diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000774/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000774/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe4bd20521a5252b11863c4d65f603170f60ef57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000774/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.8036253776435045,
+  "avg_contact_area": 504.10526315789474,
+  "contact_entropy": 0.07250926071526947,
+  "total_frames": 331,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 774,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000814/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000814/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8383d220a08b6e97cdd7393169d08d742243d573
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000814/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.666666666666667,
+  "contact_ratio": 0.7849829351535836,
+  "avg_contact_area": 162.80869565217392,
+  "contact_entropy": 0.09846285163691285,
+  "total_frames": 293,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 814,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000160/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000160/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abf35379763080081e9d77ace656d65ad3aa709
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000160/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.9446902654867256,
+  "avg_contact_area": 18695.351288056205,
+  "contact_entropy": 0.7692398053052647,
+  "total_frames": 452,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114548",
+  "episode_index": 160,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000413/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000413/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4855667b2f511edaa438826fc6c98f486d4f032
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000413/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.366666666666667,
+  "contact_ratio": 0.8096774193548387,
+  "avg_contact_area": 2209.0756972111553,
+  "contact_entropy": 0.10497352608662967,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114548",
+  "episode_index": 413,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000062/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000062/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7caafd9e01019d103343251a7bc232fde406b36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000062/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.266666666666666,
+  "contact_ratio": 0.9013157894736842,
+  "avg_contact_area": 214.57116788321167,
+  "contact_entropy": 0.07631992458633818,
+  "total_frames": 608,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 62,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000157/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000157/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d11567e1081aa387ad8290cd0a15845371f394
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000157/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.366666666666667,
+  "contact_ratio": 0.9352380952380952,
+  "avg_contact_area": 1579.9755600814665,
+  "contact_entropy": 0.7028139991929472,
+  "total_frames": 525,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 157,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000167/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000167/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b13d2e3e87db755c16b79a1f36e14b7e604682
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000167/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.266666666666667,
+  "contact_ratio": 0.7725631768953068,
+  "avg_contact_area": 1977.3878504672898,
+  "contact_entropy": 0.6515846699096015,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 167,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000176/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000176/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff21be2b1dc5199fefc4d723fdcf5b10222a9cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000176/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.733333333333333,
+  "contact_ratio": 0.8481927710843373,
+  "avg_contact_area": 1176.0738636363637,
+  "contact_entropy": 0.15669902426814222,
+  "total_frames": 415,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 176,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000216/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000216/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..369036dd5759494ca434ad9f333bd4bc9068bae2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000216/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.666666666666668,
+  "contact_ratio": 0.8217270194986073,
+  "avg_contact_area": 1241.4864406779661,
+  "contact_entropy": 0.31910096284485395,
+  "total_frames": 718,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 216,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000222/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000222/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad2c95824144c98a1967b89ec09402cc7d25747
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000222/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.166666666666668,
+  "contact_ratio": 0.7719546742209632,
+  "avg_contact_area": 1803.0550458715597,
+  "contact_entropy": 0.3829759244207618,
+  "total_frames": 706,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 222,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000256/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000256/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86cba9c2e2cd9d7a203a7fc82dafcb781b1a428
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000256/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.933333333333334,
+  "contact_ratio": 0.8168421052631579,
+  "avg_contact_area": 449.91752577319585,
+  "contact_entropy": 0.37618463149084647,
+  "total_frames": 475,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 256,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000287/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000287/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f533a2c94a14c346c74faca32d6907fbd72bd8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000287/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.433333333333334,
+  "contact_ratio": 0.9470284237726099,
+  "avg_contact_area": 1559.143246930423,
+  "contact_entropy": 0.47012642018046863,
+  "total_frames": 774,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 287,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000326/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000326/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e343a0b43d3f852753ca37f33153e003dd183713
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000326/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.766666666666666,
+  "contact_ratio": 0.8532374100719424,
+  "avg_contact_area": 1832.9881956155143,
+  "contact_entropy": 0.4926009101925912,
+  "total_frames": 695,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 326,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000327/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000327/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c936fa94dbf73be7df12da5ec15cca691d80816
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000327/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.133333333333333,
+  "contact_ratio": 0.5175834084761046,
+  "avg_contact_area": 2205.608013937282,
+  "contact_entropy": 0.3436886728965426,
+  "total_frames": 1109,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 327,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000122/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000122/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac20ac5893ca828c40660a323be0ba5390b54985
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000122/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.6420454545454546,
+  "avg_contact_area": 3254.0619469026547,
+  "contact_entropy": 0.36117977546256363,
+  "total_frames": 176,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 122,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000138/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000138/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aafdbb1330bd6dfec502023cbddd3ee64131dcb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000138/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.8342541436464088,
+  "avg_contact_area": 2422.4503311258277,
+  "contact_entropy": 0.32090021302909105,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 138,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000142/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb3fa4393d4995c32c2842b4149add94bbc4403
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.7169811320754716,
+  "avg_contact_area": 1405.9276315789473,
+  "contact_entropy": 0.02217121744728657,
+  "total_frames": 212,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000230/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000230/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdf34a009095594e3ce79cf1f0fbb19bec5d693
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000230/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.8187134502923976,
+  "avg_contact_area": 2362.714285714286,
+  "contact_entropy": 0.016089506536348684,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 230,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000265/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000265/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31f82957bd86e2505ad451268e008c45e52f0da8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000265/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.8529411764705882,
+  "avg_contact_area": 3423.939655172414,
+  "contact_entropy": 0.038988863614417425,
+  "total_frames": 136,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 265,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000366/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000366/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b019538fc1719ba25399f7976ba39e31041ba9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000366/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.233333333333333,
+  "contact_ratio": 0.8297297297297297,
+  "avg_contact_area": 7575.504885993485,
+  "contact_entropy": 0.41833900613442343,
+  "total_frames": 370,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 366,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000446/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000446/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd9f322777a11b568c551cd24ffe9917d55ce2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000446/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.8120567375886525,
+  "avg_contact_area": 2005.1615720524017,
+  "contact_entropy": 0.20815906187631392,
+  "total_frames": 282,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 446,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b6edf48b8820a49c556fee6cbfa41debad7f9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.166666666666667,
+  "contact_ratio": 0.8669354838709677,
+  "avg_contact_area": 2342.4093023255814,
+  "contact_entropy": 0.00063907641246542,
+  "total_frames": 248,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000526/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000526/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..731ab5a0d83570c97e475fef9940275d8cb25c8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000526/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.8159509202453987,
+  "avg_contact_area": 2148.1203007518798,
+  "contact_entropy": 0.34484474864604314,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 526,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000578/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000578/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..805c40b07725bfabfc2482fe3a79fc9e87336fb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000578/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7354260089686099,
+  "avg_contact_area": 2306.1463414634145,
+  "contact_entropy": 0.07253682078705752,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000112/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000112/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b51271d1a0af6dc1e0f1781c8d6fdc16a6ea2ac1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000112/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.366666666666667,
+  "contact_ratio": 0.5692821368948247,
+  "avg_contact_area": 2577.8211143695016,
+  "contact_entropy": 0.5370156074185771,
+  "total_frames": 599,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 112,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000283/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000283/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18b89a583495cb624b91f6ada2058e349b7af91d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000283/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.8666666666666667,
+  "contact_ratio": 0.20973782771535582,
+  "avg_contact_area": 74.85714285714286,
+  "contact_entropy": 0.13576890483276993,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 283,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000290/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000290/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9156a0a39317263b73dc216877b2747b6d314c26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000290/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.666666666666668,
+  "contact_ratio": 0.6264775413711584,
+  "avg_contact_area": 4057.5962264150944,
+  "contact_entropy": 0.5299930101997739,
+  "total_frames": 846,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 290,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000337/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000337/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..621ccd3fb263777d2925ae27f70967cd66d61010
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000337/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.5193798449612403,
+  "avg_contact_area": 2277.7432835820896,
+  "contact_entropy": 0.5054097256876999,
+  "total_frames": 645,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 337,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000410/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000410/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d36fcac02464ae9f6727d0b88ed61ada1d6d708
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000410/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.166666666666666,
+  "contact_ratio": 0.7589285714285714,
+  "avg_contact_area": 2370.8564705882354,
+  "contact_entropy": 0.6791832168219167,
+  "total_frames": 560,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000472/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000472/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a96d9bb08628be56d210a976b21edc0d79baa9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000472/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.5373563218390804,
+  "avg_contact_area": 1682.2032085561498,
+  "contact_entropy": 0.04689182442104014,
+  "total_frames": 348,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000505/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000505/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e1f27ff17956c000af3da5c1704193c4ab97e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000505/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.233333333333334,
+  "contact_ratio": 0.9111111111111111,
+  "avg_contact_area": 3768.5753228120516,
+  "contact_entropy": 0.4110359354538394,
+  "total_frames": 765,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 505,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000545/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000545/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc7f293da1062354ae400c8793abb9a97f5ee81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000545/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.30071174377224197,
+  "avg_contact_area": 2128.869822485207,
+  "contact_entropy": 0.13690583617054652,
+  "total_frames": 562,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 545,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000552/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000552/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79671b19e4c7f8772708a3a5ae282fbd0ca3b117
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000552/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.4703296703296703,
+  "avg_contact_area": 5243.0046728971965,
+  "contact_entropy": 0.33432847246579517,
+  "total_frames": 455,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 552,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000586/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000586/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4dd5b39b832ea59a8b5d12f5149055bef752b86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000586/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.533333333333333,
+  "contact_ratio": 0.48641655886157825,
+  "avg_contact_area": 2533.622340425532,
+  "contact_entropy": 0.44929570025671595,
+  "total_frames": 773,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 586,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000595/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000595/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c5e27e8ee653d88faa3af3730986939074712e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000595/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.666666666666666,
+  "contact_ratio": 0.4120603015075377,
+  "avg_contact_area": 1082.5268292682927,
+  "contact_entropy": 0.18290434139964187,
+  "total_frames": 995,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 595,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000625/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000625/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca90ccc2b7c258747438e498c29e21b5b0686a3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000625/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.366666666666667,
+  "contact_ratio": 0.4528448947778644,
+  "avg_contact_area": 4704.643717728055,
+  "contact_entropy": 0.2313308526091636,
+  "total_frames": 1283,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 625,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000632/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000632/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a475460e63231c0b6788d897dd9a468dcf01034
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000632/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.833333333333332,
+  "contact_ratio": 0.7858649789029536,
+  "avg_contact_area": 1835.2510067114094,
+  "contact_entropy": 0.6477429841870992,
+  "total_frames": 948,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 632,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000657/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000657/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6084d4c8567a45f57471d1c0544c2a321a4423a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000657/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.933333333333334,
+  "contact_ratio": 0.5165945165945166,
+  "avg_contact_area": 904.2597765363129,
+  "contact_entropy": 0.02453569971755086,
+  "total_frames": 693,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 657,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000020/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000020/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f02a3a670d2b37d5413c35c22eae27d38dd2ba28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000020/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 30.733333333333334,
+  "contact_ratio": 0.9030362389813908,
+  "avg_contact_area": 667.6420824295011,
+  "contact_entropy": 0.16624355864197843,
+  "total_frames": 1021,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 20,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000028/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000028/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda13226b3738ebc7e871acc8c274a9a4edfc418
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000028/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 26.333333333333332,
+  "contact_ratio": 0.8503767491926802,
+  "avg_contact_area": 2541.7620253164555,
+  "contact_entropy": 0.34638358667674196,
+  "total_frames": 929,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 28,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000105/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000105/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc1ba5852086d1833b8c4983e494b5efbb3cea2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000105/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.166666666666666,
+  "contact_ratio": 0.8726899383983573,
+  "avg_contact_area": 2551.6470588235293,
+  "contact_entropy": 0.5298446802711535,
+  "total_frames": 487,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 105,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000188/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000188/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..074960de2ba45d95a93eceeebbda349864ecc118
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000188/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.7107843137254902,
+  "avg_contact_area": 1892.7103448275861,
+  "contact_entropy": 0.16211356998262755,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 188,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000190/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000190/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c81403838d7b38b5f69469b51870d3a6076c20f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000190/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 0.8491048593350383,
+  "avg_contact_area": 2730.7289156626507,
+  "contact_entropy": 0.2992507919070298,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 190,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000228/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000228/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a377071270b3c20fd7d1c917729c08a380d9d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000228/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.766666666666667,
+  "contact_ratio": 0.7236024844720497,
+  "avg_contact_area": 561.1115879828326,
+  "contact_entropy": 0.020812229908595777,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000268/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000268/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7f606eb9383ac78a8c263ee5c01d2d43e8d2d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000268/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.7872340425531915,
+  "avg_contact_area": 559.7810810810811,
+  "contact_entropy": 0.16071424849243862,
+  "total_frames": 470,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000294/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000294/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a15352e8261a9a0e4a283f403145dea558d43c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000294/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.033333333333333,
+  "contact_ratio": 0.8292011019283747,
+  "avg_contact_area": 2085.205980066445,
+  "contact_entropy": 0.26899174789732755,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 294,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000335/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000335/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..555e2227792cde768b79e22f2b41ec4895120565
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000335/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.8595238095238096,
+  "avg_contact_area": 1242.7146814404432,
+  "contact_entropy": 0.24681591831776925,
+  "total_frames": 420,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 335,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000345/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000345/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7633cc22dcbc9823a56ff5ee428f378141e7a936
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000345/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.850253807106599,
+  "avg_contact_area": 729.1940298507462,
+  "contact_entropy": 0.042720348532565414,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 345,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000374/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000374/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28b7b698ab700464a8d3cddf060bf5399a02c42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000374/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 27.233333333333334,
+  "contact_ratio": 0.9611764705882353,
+  "avg_contact_area": 789.7906976744187,
+  "contact_entropy": 0.30554858641467986,
+  "total_frames": 850,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 374,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000381/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000381/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fbeb7efde51695dbb8c967964c02d8b24aca2c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000381/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 48.266666666666666,
+  "contact_ratio": 0.9883959044368601,
+  "avg_contact_area": 1404.9219613259668,
+  "contact_entropy": 0.4050165503179151,
+  "total_frames": 1465,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 381,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000395/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000395/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81282f018efac753c3360a8d049ca5cd11c5bde1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000395/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.933333333333334,
+  "contact_ratio": 0.7805456702253856,
+  "avg_contact_area": 564.1079027355623,
+  "contact_entropy": 0.34385682224633135,
+  "total_frames": 843,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 395,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000400/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000400/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9faa486747913c6bc6747f2ae6e0087b496ab0dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000400/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.8092909535452323,
+  "avg_contact_area": 1222.3293051359517,
+  "contact_entropy": 0.12798181254625587,
+  "total_frames": 409,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 400,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000414/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000414/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..439fcc798a47f9f6e524d90fe134f4a37897577f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000414/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.766666666666666,
+  "contact_ratio": 0.8157894736842105,
+  "avg_contact_area": 384.27068723702666,
+  "contact_entropy": 0.1200126777158658,
+  "total_frames": 874,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 414,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000475/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000475/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50a3161321db78170e99c7971c6487a7eaf7d783
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000475/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.8615023474178404,
+  "avg_contact_area": 981.4577656675749,
+  "contact_entropy": 0.15329654860630193,
+  "total_frames": 426,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 475,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000510/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000510/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d53e1190f362213a783adcae14f66ca7ac3d2528
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000510/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.233333333333333,
+  "contact_ratio": 0.8365122615803815,
+  "avg_contact_area": 2033.3094462540716,
+  "contact_entropy": 0.3868440041237763,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000555/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000555/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4da37ca9ad9a8f0b1906c8d203483f0af18e5d08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000555/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 33.36666666666667,
+  "contact_ratio": 0.9259944495837188,
+  "avg_contact_area": 2875.6543456543454,
+  "contact_entropy": 0.6139353303225183,
+  "total_frames": 1081,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 555,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000595/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000595/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3442e494b825a43184a5e3226492e1181c2ecf55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000595/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 27.233333333333334,
+  "contact_ratio": 0.8113207547169812,
+  "avg_contact_area": 1867.170134638923,
+  "contact_entropy": 0.5831152743046584,
+  "total_frames": 1007,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 595,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000615/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000615/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ece171c4fb9ab47dd5c58111a0e82d106087b1a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000615/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.933333333333334,
+  "contact_ratio": 0.8944881889763779,
+  "avg_contact_area": 1094.8327464788733,
+  "contact_entropy": 0.20063145282176476,
+  "total_frames": 635,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 615,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000622/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000622/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b7b8c9a9cc5077b99dbc8a74510b171c0e280c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000622/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 32.833333333333336,
+  "contact_ratio": 0.9069981583793738,
+  "avg_contact_area": 651.9218274111676,
+  "contact_entropy": 0.15096474659884532,
+  "total_frames": 1086,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 622,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000644/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000644/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9cdf1f4fe9e83c4d05b405de684958d476076e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000644/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.766666666666667,
+  "contact_ratio": 0.7494692144373672,
+  "avg_contact_area": 1034.042492917847,
+  "contact_entropy": 0.21714599332603002,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 644,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000646/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000646/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb25b2a72ef21c1c48758bdf2b39e63dc6ca343f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000646/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.366666666666667,
+  "contact_ratio": 0.8042452830188679,
+  "avg_contact_area": 3113.5630498533724,
+  "contact_entropy": 0.3089271257784796,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 646,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000043/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000043/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e7317a7e926348c4d8b16e1618d2e6816d436
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000043/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.8426666666666667,
+  "avg_contact_area": 4332.072784810127,
+  "contact_entropy": 0.037665472158841196,
+  "total_frames": 375,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 43,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000117/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000117/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38884873b746c0f3c51acdc9bb625ba5fc0d3942
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000117/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.8465473145780051,
+  "avg_contact_area": 1071.3595166163143,
+  "contact_entropy": 0.06068952367748526,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 117,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000167/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000167/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0bfe26700035a3e9ecfe76ecb1b42460d3db7a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000167/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.9343544857768052,
+  "avg_contact_area": 395.7728337236534,
+  "contact_entropy": 0.055267449377889445,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 167,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000177/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000177/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbe69fb01b709894596b6f3bc43185a88968e39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000177/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.466666666666665,
+  "contact_ratio": 0.9458483754512635,
+  "avg_contact_area": 3573.341603053435,
+  "contact_entropy": 0.24184873235017465,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 177,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000255/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000255/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9c234dba06beeec98246e84dbbcc815c8cdb3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000255/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.9297752808988764,
+  "avg_contact_area": 10259.450151057401,
+  "contact_entropy": 0.8623408273732918,
+  "total_frames": 356,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 255,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000275/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000275/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92c910566d6ba98e71414e1ad3a1c9727a7888b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000275/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.924433249370277,
+  "avg_contact_area": 3468.9237057220707,
+  "contact_entropy": 0.26561269591261927,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000315/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000315/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9ef8bafa737e2b0bfc64844c452a3d5e7582bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000315/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.8986486486486487,
+  "avg_contact_area": 2572.0714285714284,
+  "contact_entropy": 0.07382249400477435,
+  "total_frames": 296,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 315,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000443/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000443/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f960ab03ca09204ba9aa314dd08b6bacda157d59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000443/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.8786008230452675,
+  "avg_contact_area": 2616.927400468384,
+  "contact_entropy": 0.09035133140522125,
+  "total_frames": 486,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 443,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000475/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000475/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4160add57a6e4217a31e3cb07939d7c703e163
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000475/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.833333333333334,
+  "contact_ratio": 0.8755274261603375,
+  "avg_contact_area": 2734.956626506024,
+  "contact_entropy": 0.08778713034113185,
+  "total_frames": 474,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 475,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000485/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000485/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76d4a7610b89382c9726af252b8568575fa64cea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000485/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.9072463768115943,
+  "avg_contact_area": 2307.4760383386583,
+  "contact_entropy": 0.1827259615356397,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 485,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000493/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000493/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4658b86a58ab11e1e1e359e012142fe2d675d2af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000493/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.6573604060913706,
+  "avg_contact_area": 259.86100386100384,
+  "contact_entropy": 0.032300881842830684,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 493,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000500/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000500/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..569a41bff4815c6b916d16e2b4f56fcf5c614dfb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000500/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.133333333333333,
+  "contact_ratio": 0.8498727735368957,
+  "avg_contact_area": 4026.062874251497,
+  "contact_entropy": 0.12467860879433615,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 500,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000516/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000516/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72215eb45b268e437922a09fbb13583b5e7a8a61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000516/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.233333333333333,
+  "contact_ratio": 0.6898876404494382,
+  "avg_contact_area": 2924.1921824104234,
+  "contact_entropy": 0.38630131830275366,
+  "total_frames": 445,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 516,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3882d8bd9da42797a8705059977e2d589edaa17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.166666666666668,
+  "contact_ratio": 0.8890374331550802,
+  "avg_contact_area": 1006.0706766917293,
+  "contact_entropy": 0.24071785279198216,
+  "total_frames": 748,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000169/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000169/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..938aaec0bbc22c194daa76479312c45872338998
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000169/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.466666666666665,
+  "contact_ratio": 0.955810147299509,
+  "avg_contact_area": 1513.4828767123288,
+  "contact_entropy": 0.40296173683362224,
+  "total_frames": 611,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 169,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000175/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000175/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53022d73f942a19153687e13818732b83b8cf20f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000175/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.433333333333334,
+  "contact_ratio": 0.7277310924369748,
+  "avg_contact_area": 483.0531177829099,
+  "contact_entropy": 0.14851861279080755,
+  "total_frames": 595,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 175,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000188/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000188/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c527d5c4a60371fbc5365954ec866665e201f24b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000188/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.766666666666667,
+  "contact_ratio": 0.8507194244604317,
+  "avg_contact_area": 2035.1775898520084,
+  "contact_entropy": 0.42746292479107695,
+  "total_frames": 556,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 188,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000202/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000202/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72ed38722c8641541b15ca70c1e8c6f344c0dc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000202/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.966666666666665,
+  "contact_ratio": 0.7409024745269287,
+  "avg_contact_area": 1285.2475442043221,
+  "contact_entropy": 0.3500049555931499,
+  "total_frames": 687,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 202,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000206/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000206/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da645fd5e53b7aaf0830f1bc1418dfb4b2d1b75
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000206/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 28.233333333333334,
+  "contact_ratio": 0.9010638297872341,
+  "avg_contact_area": 2705.4250295159386,
+  "contact_entropy": 0.47656302862066235,
+  "total_frames": 940,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 206,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000230/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000230/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1fbc8f562024ceb71f6bb69efd156bd20c7ce0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000230/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 0.7667785234899329,
+  "avg_contact_area": 1674.054704595186,
+  "contact_entropy": 0.21201324061055438,
+  "total_frames": 596,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 230,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000249/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000249/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bcf5e47eb7024c7d8b226a75d9cb0aa7c018fd6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000249/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.6950354609929078,
+  "avg_contact_area": 765.3112244897959,
+  "contact_entropy": 0.001263351601485675,
+  "total_frames": 282,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 249,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000268/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000268/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c36f83b37cc5d444dd927dd2c4e7b31c8dd3cd1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000268/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.133333333333333,
+  "contact_ratio": 0.8760064412238325,
+  "avg_contact_area": 1150.3106617647059,
+  "contact_entropy": 0.42114126099857285,
+  "total_frames": 621,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 268,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000270/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000270/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce2e149bd04b14cd79f282293e11d9e39446667
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000270/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.733333333333334,
+  "contact_ratio": 0.7263803680981595,
+  "avg_contact_area": 2934.739864864865,
+  "contact_entropy": 0.45607824071528746,
+  "total_frames": 815,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 270,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000289/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000289/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe63c2764641995aaf6d88aa9f7cd4239337a417
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000289/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.733333333333334,
+  "contact_ratio": 0.7753396029258098,
+  "avg_contact_area": 1313.0175202156333,
+  "contact_entropy": 0.8649759614037695,
+  "total_frames": 957,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 289,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000308/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000308/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4e9c87f0c9a3fbb9caea53d101c47ddf9d9d12
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000308/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 31.633333333333333,
+  "contact_ratio": 0.9461615154536391,
+  "avg_contact_area": 1255.3340358271864,
+  "contact_entropy": 0.4945968595481771,
+  "total_frames": 1003,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 308,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000318/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000318/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..373df311c46a83b1ec0475f9ff9bce8f7c4d5674
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000318/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.266666666666666,
+  "contact_ratio": 0.8232258064516129,
+  "avg_contact_area": 1984.7225705329154,
+  "contact_entropy": 0.40300721551435775,
+  "total_frames": 775,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 318,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000362/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000362/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd7650a5e43919060c3718a60b2540cc788b35b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000362/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.5489864864864865,
+  "avg_contact_area": 574.8492307692308,
+  "contact_entropy": 0.11045723397940771,
+  "total_frames": 592,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000375/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000375/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bc09d6858eaf07c7e095da255eaf8f43d3b6d88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000375/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.366666666666667,
+  "contact_ratio": 0.5230061349693251,
+  "avg_contact_area": 548.7800586510264,
+  "contact_entropy": 0.22425057971510934,
+  "total_frames": 652,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 375,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000402/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000402/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa0cc88218866f262de8e8d274810c11202b9495
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000402/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.366666666666667,
+  "contact_ratio": 0.7034383954154728,
+  "avg_contact_area": 1780.9409368635438,
+  "contact_entropy": 0.3657292566139709,
+  "total_frames": 698,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000136/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000136/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c5f1235b5dfd3ae52c52cc513666a4ec0f1ac1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000136/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.266666666666667,
+  "contact_ratio": 0.9085545722713865,
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+  "contact_entropy": 0.7949279044899615,
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+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 136,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b0e515a5de938cc3f689736ea980a8c467879b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.233333333333333,
+  "contact_ratio": 0.9297423887587822,
+  "avg_contact_area": 3829.586901763224,
+  "contact_entropy": 0.14299421168068793,
+  "total_frames": 427,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 145,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000183/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000183/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..beb0d81c7eae6638c55b86b2c4dedfe3d069f354
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000183/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.9343544857768052,
+  "avg_contact_area": 2550.878220140515,
+  "contact_entropy": 0.13840245429317824,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 183,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000265/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000265/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4d136beb9399becac7a46907821c57df2e31c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000265/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.933333333333334,
+  "contact_ratio": 0.927007299270073,
+  "avg_contact_area": 4610.1968503937005,
+  "contact_entropy": 0.32332274089716995,
+  "total_frames": 548,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 265,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000361/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000361/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41fbf855df5ec8144eb7a44de2e2b0293c1f80c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000361/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.8640350877192983,
+  "avg_contact_area": 3631.1395939086296,
+  "contact_entropy": 0.4670924903557542,
+  "total_frames": 456,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 361,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000376/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000376/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bcf2f2c3b4ec806e4550336b0f89f0705db14ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000376/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.133333333333333,
+  "contact_ratio": 0.9458333333333333,
+  "avg_contact_area": 6010.0881057268725,
+  "contact_entropy": 0.6932778653346987,
+  "total_frames": 480,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 376,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000496/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000496/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f42ee185f71d39d917aa98ddc41a713f34c2f4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000496/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.433333333333334,
+  "contact_ratio": 0.9726890756302521,
+  "avg_contact_area": 10522.434125269978,
+  "contact_entropy": 0.6630762560819088,
+  "total_frames": 476,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 496,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000503/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b4250d239f756420a99980bc1216c247119260
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.933333333333334,
+  "contact_ratio": 0.8708333333333333,
+  "avg_contact_area": 12869.114832535884,
+  "contact_entropy": 0.8917547295563555,
+  "total_frames": 480,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000528/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000528/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c07c1892df9ff14696c902eed7a7de07cff5f0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000528/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.47795414462081126,
+  "avg_contact_area": 5487.0036900369005,
+  "contact_entropy": 0.49896753733716126,
+  "total_frames": 567,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 528,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000563/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000563/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d6da16b4833d07702548f746f22acd77be84b9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000563/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.533333333333333,
+  "contact_ratio": 0.9398148148148148,
+  "avg_contact_area": 5909.982758620689,
+  "contact_entropy": 0.47713291966687765,
+  "total_frames": 432,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 563,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000665/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000665/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21789baf7ed5c482fa65c5ad548195a0892e8a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000665/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.9127906976744186,
+  "avg_contact_area": 14847.468152866242,
+  "contact_entropy": 0.5696432406201197,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 665,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000718/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000718/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..767d536c1cfe6e578febb6da7a0e15a93b1d7ad7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000718/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.8085106382978723,
+  "avg_contact_area": 1457.5375939849623,
+  "contact_entropy": 0.04752900297842857,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 718,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000022/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000022/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d66b252f13ec08c1ed412a749bc7ae074b98145b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000022/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.633333333333333,
+  "contact_ratio": 0.9515347334410339,
+  "avg_contact_area": 2856.2173174872664,
+  "contact_entropy": 0.36921892464475325,
+  "total_frames": 619,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 22,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000115/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000115/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3b58d463920f68db2295fbd06b54f92950ce92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000115/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.733333333333333,
+  "contact_ratio": 0.8451443569553806,
+  "avg_contact_area": 814.8229813664597,
+  "contact_entropy": 0.09529023254839514,
+  "total_frames": 381,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000142/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..381d70590ac2edb4b7e46157c192f6fc98917038
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.7748091603053435,
+  "avg_contact_area": 1866.0049261083743,
+  "contact_entropy": 0.12913665623111853,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000177/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000177/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be7e4a73467bf107d929467d422c836ab9745449
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000177/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7256637168141593,
+  "avg_contact_area": 2697.5975609756097,
+  "contact_entropy": 0.12464007315241901,
+  "total_frames": 226,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 177,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000223/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000223/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79ffa7a121edda2009860ed434cbb45ee39e877
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000223/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.7142857142857143,
+  "avg_contact_area": 3091.3548387096776,
+  "contact_entropy": 0.31322043763602186,
+  "total_frames": 217,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000235/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000235/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67159dbe6cf3fd840e65a3f1aaf306bd1c4cabdd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000235/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.7677902621722846,
+  "avg_contact_area": 1196.2439024390244,
+  "contact_entropy": 0.02172416149971376,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 235,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000241/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000241/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09576f887d5f544510e035a13bd3c7266bcea18f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000241/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.6927083333333334,
+  "avg_contact_area": 1063.172932330827,
+  "contact_entropy": 0.018716278050631797,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000303/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000303/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4af66f2f2cd429a39214173962d59e34782959
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000303/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.133333333333334,
+  "contact_ratio": 0.7479674796747967,
+  "avg_contact_area": 1917.3804347826087,
+  "contact_entropy": 0.17693023251812579,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000312/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000312/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49a038dffb9f2632eb656fd70663ab69d98d46a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000312/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.966666666666667,
+  "contact_ratio": 0.8713592233009708,
+  "avg_contact_area": 1369.4596100278552,
+  "contact_entropy": 0.34009815067652793,
+  "total_frames": 412,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 312,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000318/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000318/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb121a7c8d52fdf0e1a4717b18e35fb8f8b34e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000318/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.766666666666667,
+  "contact_ratio": 0.6139130434782609,
+  "avg_contact_area": 1104.6203966005667,
+  "contact_entropy": 0.44989280259955405,
+  "total_frames": 575,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 318,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000441/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000441/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68201e237c07eaaeee213b599b57e7712eb6d245
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000441/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.033333333333335,
+  "contact_ratio": 0.8949211908931699,
+  "avg_contact_area": 6000.630136986301,
+  "contact_entropy": 0.45483794233039543,
+  "total_frames": 571,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000463/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000463/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a01dbe665b02dd52c2cedcb49fc2f0a30d25ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000463/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.733333333333334,
+  "contact_ratio": 0.9014492753623189,
+  "avg_contact_area": 3519.409967845659,
+  "contact_entropy": 0.41555406537723644,
+  "total_frames": 690,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000497/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000497/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56cf662eeac6d298b04226bd280d7bf25a74c622
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000497/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.8681318681318682,
+  "avg_contact_area": 2058.6708860759495,
+  "contact_entropy": 0.3151547638310698,
+  "total_frames": 455,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 497,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000503/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fe70d80fdf597665a9f708426cc86eeba85ebd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.166666666666666,
+  "contact_ratio": 0.9323770491803278,
+  "avg_contact_area": 4151.8439560439565,
+  "contact_entropy": 0.4975857170548257,
+  "total_frames": 488,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000573/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000573/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27b6514636139a793c9f1bf0ac6eea7406950d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000573/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7772511848341233,
+  "avg_contact_area": 1404.6951219512196,
+  "contact_entropy": 0.014353287178204206,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 573,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000582/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000582/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc45f8242e8a2ab0152a603e80fdd69e3ea5a34
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000582/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.532051282051282,
+  "avg_contact_area": 122.43975903614458,
+  "contact_entropy": 0.0005372488233095911,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 582,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000613/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000613/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6530e0bd842c91afda6da53c6d29d5209ea53988
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000613/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.533333333333333,
+  "contact_ratio": 0.8158844765342961,
+  "avg_contact_area": 3070.9424778761063,
+  "contact_entropy": 0.008046048077296156,
+  "total_frames": 277,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 613,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000663/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000663/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80cc7be6e8850bba18a08b6a3b4f711e25eee3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000663/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.8212121212121212,
+  "avg_contact_area": 2715.3062730627307,
+  "contact_entropy": 0.10229908231126439,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 663,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000697/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000697/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1ab5ddc19bf3c822699785bd4e3633c7e0bdd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000697/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.266666666666667,
+  "contact_ratio": 0.7927272727272727,
+  "avg_contact_area": 13083.142201834862,
+  "contact_entropy": 0.20153860778490174,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 697,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000742/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000742/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..087ef647c7a89eabe9dc254cc6b84f2b8c9e4a53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000742/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.333333333333333,
+  "contact_ratio": 0.6707317073170732,
+  "avg_contact_area": 1165.0636363636363,
+  "contact_entropy": 0.02776133370314306,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 742,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000801/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000801/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8197dfb5077c082ae961e08ea114cbd2efccd91
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000801/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 29.166666666666668,
+  "contact_ratio": 0.824693685202639,
+  "avg_contact_area": 1450.1702857142857,
+  "contact_entropy": 0.4682439390203499,
+  "total_frames": 1061,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 801,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000808/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000808/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67486f68fea36c8b72b84ae3c35c82c3cfb29668
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000808/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.633333333333333,
+  "contact_ratio": 0.5948509485094851,
+  "avg_contact_area": 1285.1753986332574,
+  "contact_entropy": 0.39517243815905745,
+  "total_frames": 738,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 808,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000822/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000822/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc219c61090f72b534f55c31f874b8a31c00f744
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000822/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.533333333333335,
+  "contact_ratio": 0.8789115646258503,
+  "avg_contact_area": 1012.9303405572755,
+  "contact_entropy": 0.1474455675751317,
+  "total_frames": 735,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 822,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000863/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000863/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d896d47fe54ab55186bb3377c87e650c766556
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000863/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.8700440528634361,
+  "avg_contact_area": 3664.4177215189875,
+  "contact_entropy": 0.2544203729049706,
+  "total_frames": 454,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 863,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000891/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000891/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ce327bbd5e196018211c96345d44f6a9d639447
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000891/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.266666666666667,
+  "contact_ratio": 0.9953488372093023,
+  "avg_contact_area": 1408.6214953271028,
+  "contact_entropy": 0.27464552098465045,
+  "total_frames": 430,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 891,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000164/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000164/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86558ce3cac81796c2931cd2803a337a0940edb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000164/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.7993197278911565,
+  "avg_contact_area": 2149.5787234042555,
+  "contact_entropy": 0.48896403692581625,
+  "total_frames": 294,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 164,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000234/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000234/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f992b9a80a1444a494bd15b4f690aa991b1f4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000234/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.166666666666666,
+  "contact_ratio": 0.9407216494845361,
+  "avg_contact_area": 3025.013698630137,
+  "contact_entropy": 0.28545906568713797,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 234,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000248/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000248/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0948e14474694173681dcf20234054493aff81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000248/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 0.7814814814814814,
+  "avg_contact_area": 1308.9004739336492,
+  "contact_entropy": 0.27473386115473675,
+  "total_frames": 270,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 248,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77504535ce72141e07591c6817efcb530cf1a8af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.8693693693693694,
+  "avg_contact_area": 945.7668393782384,
+  "contact_entropy": 0.0019729355677857103,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 273,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000324/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000324/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e760aa300c05516382af5c1537f916c94517ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000324/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.766666666666667,
+  "contact_ratio": 0.8092307692307692,
+  "avg_contact_area": 1242.4562737642586,
+  "contact_entropy": 0.23527156850314684,
+  "total_frames": 325,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000333/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000333/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be7948997b02a25811b744221b0cb664aa3bb3f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000333/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.633333333333333,
+  "contact_ratio": 0.9619289340101523,
+  "avg_contact_area": 2096.0633245382587,
+  "contact_entropy": 0.45102182930510354,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 333,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000394/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000394/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e775fda42cb6ebc359c3c60aa7985b736b3f4213
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000394/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.433333333333334,
+  "contact_ratio": 0.9076576576576577,
+  "avg_contact_area": 3691.0545905707195,
+  "contact_entropy": 0.5745131553904512,
+  "total_frames": 444,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 394,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000439/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000439/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..236a722aa27b9ced296127c0e97a65d114cab09e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000439/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 0.8939393939393939,
+  "avg_contact_area": 1510.1016949152543,
+  "contact_entropy": 0.12528584509138488,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 439,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000455/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000455/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11041f32555a65866039003b98c25bea6b98a4b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000455/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 0.8839458413926499,
+  "avg_contact_area": 1699.0021881838074,
+  "contact_entropy": 0.7169395475545773,
+  "total_frames": 517,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 455,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000474/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000474/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcaad7a792dea6d4d8f84d4de380f0c172f425ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000474/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.8575342465753425,
+  "avg_contact_area": 3931.5750798722047,
+  "contact_entropy": 0.6228406275590538,
+  "total_frames": 365,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 474,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000484/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000484/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e120774966a1d0f08605cf9c5444fbfb39d1542d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000484/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.8717105263157895,
+  "avg_contact_area": 4073.4528301886794,
+  "contact_entropy": 0.49931855155558197,
+  "total_frames": 304,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 484,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000533/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000533/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc55fc3e75ba4739a6c7301115668f0454ba275a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000533/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.5450980392156862,
+  "avg_contact_area": 1802.273381294964,
+  "contact_entropy": 0.0010558262568552367,
+  "total_frames": 255,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 533,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000535/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000535/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c8c798dac2f1688eb26da9572a2906eaf3645df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000535/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.133333333333334,
+  "contact_ratio": 0.8888888888888888,
+  "avg_contact_area": 2846.7391304347825,
+  "contact_entropy": 0.47031027599092184,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 535,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000594/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000594/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2425349997a9699d94880a12e6febbeaafa7e16d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000594/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.033333333333333,
+  "contact_ratio": 0.9444444444444444,
+  "avg_contact_area": 1098.0179028132993,
+  "contact_entropy": 0.3673843674687149,
+  "total_frames": 414,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 594,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000604/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000604/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aecd64812694796434a02570fbc211245cc79e89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000604/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.9177215189873418,
+  "avg_contact_area": 1110.0931034482758,
+  "contact_entropy": 0.15733198577591115,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 604,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000643/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000643/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afab842854dd77b65a28010e299c4717d88037cf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000643/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.1666666666666665,
+  "contact_ratio": 0.35984848484848486,
+  "avg_contact_area": 3189.7684210526318,
+  "contact_entropy": 0.4362096478597938,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 643,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000674/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000674/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..712890586789b16d86d26522f3540f5cecaa32e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000674/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.166666666666668,
+  "contact_ratio": 0.9568345323741008,
+  "avg_contact_area": 3677.7323308270675,
+  "contact_entropy": 0.9076151642027598,
+  "total_frames": 695,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 674,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000713/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000713/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a54a4411230b18a2f08a49fbc0cae9339c34a87
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000713/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.633333333333333,
+  "contact_ratio": 0.45376955903271693,
+  "avg_contact_area": 10731.034482758621,
+  "contact_entropy": 0.7016414194489513,
+  "total_frames": 703,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 713,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000749/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000749/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..405b4ab3a4bea8ce9fbcd7798f996250f18cfe61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000749/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.066666666666666,
+  "contact_ratio": 0.8615751789976134,
+  "avg_contact_area": 2013.2520775623268,
+  "contact_entropy": 0.6345340155268264,
+  "total_frames": 838,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 749,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000162/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000162/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c46062305eea8f6c1a61fb6965e7d93abb17259
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000162/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.033333333333333,
+  "contact_ratio": 0.8337950138504155,
+  "avg_contact_area": 2542.531561461794,
+  "contact_entropy": 0.37550420741847007,
+  "total_frames": 361,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 162,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000164/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000164/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b24aad293ccaa29f31d26b2288ba44c4cebc768
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000164/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.933333333333334,
+  "contact_ratio": 0.8763102725366876,
+  "avg_contact_area": 2796.8588516746413,
+  "contact_entropy": 0.5609879885971341,
+  "total_frames": 477,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 164,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000187/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000187/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61a8e6b863b1583c413d83f1281efc97a3c5642
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000187/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.8333333333333334,
+  "avg_contact_area": 3616.9837837837836,
+  "contact_entropy": 0.48860178951124966,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 187,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000284/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000284/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fe93e2b8a2ba49e816929c48a1ee366a46fc257
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000284/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.8597402597402597,
+  "avg_contact_area": 20760.990936555892,
+  "contact_entropy": 0.6467858109411083,
+  "total_frames": 385,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000307/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000307/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a4a992b1ff7c91d18f7483f6a166b8d0bc23437
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000307/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.833333333333332,
+  "contact_ratio": 0.9469026548672567,
+  "avg_contact_area": 10296.338317757009,
+  "contact_entropy": 0.5926219670163815,
+  "total_frames": 565,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 307,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000364/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000364/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..706f46b9afa30242fb262e15fd7236a110476471
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000364/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.933333333333334,
+  "contact_ratio": 0.9409448818897638,
+  "avg_contact_area": 6036.635983263598,
+  "contact_entropy": 0.44053683893758255,
+  "total_frames": 508,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 364,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000427/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000427/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03910254e319fde0dd4e73fee7ca9ad9c361236
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000427/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.666666666666666,
+  "contact_ratio": 0.8867924528301887,
+  "avg_contact_area": 4143.617021276596,
+  "contact_entropy": 0.35284209677806944,
+  "total_frames": 530,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000444/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000444/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8861466dc375b65c54428a45d26871d68b45cd9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000444/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.133333333333333,
+  "contact_ratio": 0.8584905660377359,
+  "avg_contact_area": 9307.497252747253,
+  "contact_entropy": 0.44172088928896736,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 444,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000467/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000467/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fef8dcf2ad8230c17e552e12127591a27836464
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000467/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.333333333333334,
+  "contact_ratio": 0.8539944903581267,
+  "avg_contact_area": 23237.112903225807,
+  "contact_entropy": 0.5552190877874634,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000482/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000482/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35c9517fac36dd6f73fd74e9cff57fcc09d7905
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000482/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.266666666666667,
+  "contact_ratio": 0.8770491803278688,
+  "avg_contact_area": 4586.558411214954,
+  "contact_entropy": 0.13148766568685727,
+  "total_frames": 488,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 482,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000524/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000524/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbeccdd6e09dc06230d688ccaa1448608d3fc602
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000524/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.633333333333333,
+  "contact_ratio": 0.9191011235955057,
+  "avg_contact_area": 16576.330073349633,
+  "contact_entropy": 0.5151886625690032,
+  "total_frames": 445,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 524,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000537/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000537/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab3e49703a3fb6959f0e6f069fab42e045183f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000537/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.633333333333333,
+  "contact_ratio": 0.8233618233618234,
+  "avg_contact_area": 2574.5570934256057,
+  "contact_entropy": 0.12279112071715464,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 537,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000547/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000547/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44725ae05faeaacd7c7b44ebfb1504e94a9b96be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000547/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.233333333333333,
+  "contact_ratio": 0.9297423887587822,
+  "avg_contact_area": 13909.488664987406,
+  "contact_entropy": 0.6065566375413299,
+  "total_frames": 427,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 547,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2df5c642a5f765a427a5aeea1a84660cab403f1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.033333333333335,
+  "contact_ratio": 0.9646869983948636,
+  "avg_contact_area": 2694.9767054908484,
+  "contact_entropy": 0.3412668374394358,
+  "total_frames": 623,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 582,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000627/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000627/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5401b60787595d74134580dc91ba17d1abcf545
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000627/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.933333333333334,
+  "contact_ratio": 0.9495327102803738,
+  "avg_contact_area": 1300.716535433071,
+  "contact_entropy": 0.08187898934090473,
+  "total_frames": 535,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000667/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000667/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbe36ee233de1ffad9e11c3bab61de68af47d79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000667/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.8487179487179487,
+  "avg_contact_area": 10556.054380664653,
+  "contact_entropy": 0.7771675107251561,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 667,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000684/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000684/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95dcbca60ea5432c49e9ee915e2653cfb3f4adaf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000684/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.7765151515151515,
+  "avg_contact_area": 2427.731707317073,
+  "contact_entropy": 0.009590125385826464,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 684,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000724/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000724/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a6717c788075c4ff5445abbe546a97e7512441
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000724/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.233333333333333,
+  "contact_ratio": 0.9730392156862745,
+  "avg_contact_area": 7693.3727959697735,
+  "contact_entropy": 0.8321367220696202,
+  "total_frames": 408,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 724,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000742/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000742/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9bf64049fa2c2bca057ecb3a31377bb05e0a67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000742/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.8107255520504731,
+  "avg_contact_area": 1311.3112840466927,
+  "contact_entropy": 0.19075055463710394,
+  "total_frames": 317,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 742,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000743/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000743/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d23cd682c2fc0fa1b33c3d8601e17d4da8219a55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000743/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.266666666666667,
+  "contact_ratio": 0.7837150127226463,
+  "avg_contact_area": 1341.4253246753246,
+  "contact_entropy": 0.43520705985524893,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 743,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000117/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000117/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a85f715653326018d84e8b095b57996028f2fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000117/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.6606060606060606,
+  "avg_contact_area": 3697.8715596330276,
+  "contact_entropy": 0.6130270169720508,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 117,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000157/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000157/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbb022ce9e1e80df6cbf2481077fcd391cd6291c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000157/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.7230046948356808,
+  "avg_contact_area": 2301.6753246753246,
+  "contact_entropy": 0.27367319107388527,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 157,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000209/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000209/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..221172aaec43571a448f3b3de1080071bd4551fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000209/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.7318181818181818,
+  "avg_contact_area": 948.5403726708074,
+  "contact_entropy": 0.028975384099160274,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 209,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000216/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000216/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..684c763ce42caf5ac8afd220de4315d77bece7fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000216/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.7219730941704036,
+  "avg_contact_area": 1627.9503105590063,
+  "contact_entropy": 0.08262109232723171,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 216,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000256/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000256/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..362a7ba71e78bb7fbd1f804cf874f163b6a8decd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000256/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.7854671280276817,
+  "avg_contact_area": 1321.3127753303966,
+  "contact_entropy": 0.06223638411672015,
+  "total_frames": 289,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 256,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000296/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000296/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e292ea4df4fa35d255116ef849e52498f7de8da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000296/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.7822878228782287,
+  "avg_contact_area": 1388.5283018867924,
+  "contact_entropy": 0.05157265075165562,
+  "total_frames": 271,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 296,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000456/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000456/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bab0b041e3a93566c71f274b0b2e1a115519b29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000456/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.166666666666667,
+  "contact_ratio": 0.776173285198556,
+  "avg_contact_area": 1045.1023255813955,
+  "contact_entropy": 0.005807868829095889,
+  "total_frames": 277,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 456,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000489/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000489/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f084e67b3c4ee1c6356f75760b9c54bf8c99dc5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000489/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 0.8654292343387471,
+  "avg_contact_area": 2167.1260053619303,
+  "contact_entropy": 0.0838803606877454,
+  "total_frames": 431,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 489,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000557/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000557/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f0fbe795b200bfe8dad9d3128c0a89c3b2e186
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000557/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.8212121212121212,
+  "avg_contact_area": 2134.2546125461254,
+  "contact_entropy": 0.34509404457841897,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 557,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000605/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000605/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f50f2bbc1888d67dadf5e23e7a22db91769bb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000605/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.933333333333334,
+  "contact_ratio": 0.9479768786127167,
+  "avg_contact_area": 1462.0152439024391,
+  "contact_entropy": 0.19251683367587955,
+  "total_frames": 346,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 605,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000609/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000609/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6bd9c78b7e359cfbc585a7616221a6eb0b6a218
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000609/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.9072463768115943,
+  "avg_contact_area": 2265.843450479233,
+  "contact_entropy": 0.06834550374017866,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 609,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000627/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000627/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77396f5fbbf0fee911d85a9652b52796debd8d9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000627/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.8142292490118577,
+  "avg_contact_area": 14516.529126213592,
+  "contact_entropy": 0.48286683075775544,
+  "total_frames": 253,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000667/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000667/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca397dec1ef3c71f9dde7dcb0f772225d37e9bf7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000667/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.7993527508090615,
+  "avg_contact_area": 1270.0202429149797,
+  "contact_entropy": 0.03961257638440609,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 667,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000696/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000696/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a1406c6b5993cb8071fb33ebe152da37b6096b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000696/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.866666666666667,
+  "contact_ratio": 0.9278846153846154,
+  "avg_contact_area": 4289.282383419689,
+  "contact_entropy": 0.12441654493195803,
+  "total_frames": 416,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 696,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000729/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000729/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9f0a9888c9dfb730a0f560835944f1a87220b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000729/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.066666666666666,
+  "contact_ratio": 0.7934426229508197,
+  "avg_contact_area": 1108.6942148760331,
+  "contact_entropy": 0.00981929443713307,
+  "total_frames": 305,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 729,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000033/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000033/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba454a27f408fef9d1c35c242604483fecbebae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000033/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.433333333333334,
+  "contact_ratio": 0.6335227272727273,
+  "avg_contact_area": 2220.4618834080716,
+  "contact_entropy": 0.017657890959428275,
+  "total_frames": 352,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 33,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000198/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000198/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21a0a1c79bcb3685fe395846e2592c95903b944
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000198/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.7945205479452054,
+  "avg_contact_area": 1295.1077586206898,
+  "contact_entropy": 0.054351598210487004,
+  "total_frames": 292,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 198,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000234/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000234/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c37860323e60037fcd673c8a06390fa04a4fd01
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000234/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.891156462585034,
+  "avg_contact_area": 4430.984732824428,
+  "contact_entropy": 0.0046617266890061175,
+  "total_frames": 147,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 234,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000330/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000330/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11616544a55e77244a42e957de396f69c40a7836
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000330/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.6497175141242938,
+  "avg_contact_area": 1167.5652173913043,
+  "contact_entropy": 0.8138004225786757,
+  "total_frames": 177,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 330,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000363/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000363/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc6190f14f621086632d812b51dc6168b574c26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000363/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.5613382899628253,
+  "avg_contact_area": 1981.0860927152319,
+  "contact_entropy": 0.008226110309092177,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 363,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000370/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000370/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3068136f7a4a75db39195228ba168272a6f9a3c7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000370/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.5816023738872403,
+  "avg_contact_area": 134.66326530612244,
+  "contact_entropy": 0.12905672462145576,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 370,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000554/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000554/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39488517fbebcf463e00abaf50e50ad88c65a3b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000554/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.466666666666667,
+  "contact_ratio": 0.6925925925925925,
+  "avg_contact_area": 1234.1336898395723,
+  "contact_entropy": 0.6406334893204881,
+  "total_frames": 540,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 554,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000632/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000632/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b2b908b5e76e967094ee4e6e69274ad7eacd9fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000632/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.6942675159235668,
+  "avg_contact_area": 206.71559633027522,
+  "contact_entropy": 0.6504266734127593,
+  "total_frames": 157,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 632,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000650/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000650/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2117f3b98bd2d15c6d120d3ce9a9ee93ec648d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000650/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.266666666666667,
+  "contact_ratio": 0.7417840375586855,
+  "avg_contact_area": 2408.487341772152,
+  "contact_entropy": 0.030225599985539888,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 650,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000678/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000678/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57008b24d4f367ec440fdb52fa989d42f877054
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000678/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.7898550724637681,
+  "avg_contact_area": 1306.2752293577983,
+  "contact_entropy": 0.14944549262195994,
+  "total_frames": 138,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 678,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000692/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000692/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a061132d9a5ce57b940b8879cd6c4ece52f285a5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000692/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.8765432098765432,
+  "avg_contact_area": 2398.507042253521,
+  "contact_entropy": 0.031985346662463526,
+  "total_frames": 162,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 692,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000705/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000705/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afc965b553f1d5a146e52da746c15a6426be695e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000705/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.9629629629629629,
+  "avg_contact_area": 2201.783653846154,
+  "contact_entropy": 0.026560178595903417,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 705,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000712/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000712/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8e4a430f3fcd44ee29d7b3dec0666e3806bfafe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000712/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.433333333333334,
+  "contact_ratio": 0.9929824561403509,
+  "avg_contact_area": 2859.9257950530036,
+  "contact_entropy": 0.01428340177072751,
+  "total_frames": 285,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 712,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000745/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000745/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff213306e3c9c3ef7f6c66d691d990077ad71a6a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000745/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.5776566757493188,
+  "avg_contact_area": 1025.4103773584907,
+  "contact_entropy": 0.03128571696958852,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 745,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000754/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000754/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..787f938c67dc887150306fa20c4029cc6be9ce25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000754/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.7475247524752475,
+  "avg_contact_area": 1487.8344370860927,
+  "contact_entropy": 0.23049407334505984,
+  "total_frames": 202,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 754,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000152/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000152/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a87a3c3770e838c0680af376a112f99d7b8a702
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000152/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.966666666666667,
+  "contact_ratio": 0.5610328638497653,
+  "avg_contact_area": 2392.6401673640166,
+  "contact_entropy": 0.14567119856579017,
+  "total_frames": 426,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 152,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000393/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000393/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f7b43e4ae0629a658047ed7a5e523281646245
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000393/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 0.6509803921568628,
+  "avg_contact_area": 511.12951807228916,
+  "contact_entropy": 0.0717573149288733,
+  "total_frames": 510,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 393,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000405/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000405/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7287a5cea337ecd77149a8dc712528ff5a5cd4b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000405/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.8071979434447301,
+  "avg_contact_area": 703.9299363057324,
+  "contact_entropy": 0.19293993594384412,
+  "total_frames": 389,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000427/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000427/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f1a327ba9251227459710d64064903f1eef30d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000427/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.8229665071770335,
+  "avg_contact_area": 3687.1627906976746,
+  "contact_entropy": 0.7839753548706557,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file