diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000715/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000715/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ada23383504d4390ebc0896f7a8d592c22d64efb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000715/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00362947816029191,
+  "shear_peak": 0.002847658470273018,
+  "force_magnitude_peak": 0.004460332449525595,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 715,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000748/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000748/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d9223c0704fde6abd393024bd9363cd0c1b72f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000748/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 0.8534704370179949,
+  "avg_contact_area": 3231.9427710843374,
+  "contact_entropy": 0.24810359941088683,
+  "total_frames": 389,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 748,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000754/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000754/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..007584ca6ca0efa5f569c16ad602f013912fcb3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000754/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011292261769995093,
+  "shear_peak": 0.002360873855650425,
+  "force_magnitude_peak": 0.002664747415110469,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 754,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94ed420071d6a820b38e3dd8d25dbee58d790b89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.9597701149425287,
+  "avg_contact_area": 1792.11377245509,
+  "contact_entropy": 0.1557168993106056,
+  "total_frames": 174,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 755,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1edf4ae0bb6696273e15e3f81f4d7ac63c8afe74
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000755/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001589152030646801,
+  "shear_peak": 0.0019735186360776424,
+  "force_magnitude_peak": 0.002470070030540228,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 755,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000756/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000756/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9727531a45a745e8ee4ffd69ae981fbd8f8b19df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000756/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.6242038216560509,
+  "avg_contact_area": 2766.714285714286,
+  "contact_entropy": 0.14405317295425887,
+  "total_frames": 157,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 756,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000757/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000757/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..736b0071c226bdc8e69ca7084cb582e99c5401f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000757/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005402696551755071,
+  "shear_peak": 0.002793302293866873,
+  "force_magnitude_peak": 0.003909667953848839,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 757,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000758/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000758/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a0fc8d33016234e50c3f78d739bc8257ec461fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000758/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.8333333333333334,
+  "avg_contact_area": 1899.46,
+  "contact_entropy": 0.11785730159261307,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 758,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f24caab8d0cb7ad2bd40753950f2f70f989dfb11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035458984784781933,
+  "shear_peak": 0.007429172284901142,
+  "force_magnitude_peak": 0.00815517082810402,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 761,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e039e1c0496cc5d2f9b8ea7efaef195bce7c2273
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000761/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0287164393812418,
+  "shear_peak": 0.022389110177755356,
+  "force_magnitude_peak": 0.03359157592058182,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 761,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000763/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000763/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05e82ea182b5809e466adefbf61c7e75552d28e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000763/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011917951051145792,
+  "shear_peak": 0.002924012253060937,
+  "force_magnitude_peak": 0.003228012239560485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 763,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000765/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000765/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d6ff462109b1a54b8d0d081e2f3bb899d5be527
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000765/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.466666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 12555.53937007874,
+  "contact_entropy": 0.7469973962043386,
+  "total_frames": 254,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 765,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000766/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000766/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e250ef35b04d9bb72697a26b91db4556ae8057e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000766/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.533333333333333,
+  "contact_ratio": 0.6424242424242425,
+  "avg_contact_area": 1599.5566037735848,
+  "contact_entropy": 0.09640353187877893,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 766,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000768/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000768/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c3f4e1759204cb601413c4854bdbf9f2d0ca4b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000768/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03287990018725395,
+  "shear_peak": 0.02130867727100849,
+  "force_magnitude_peak": 0.0381179004907608,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 768,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000769/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000769/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a0818f5f2989a6d105882133b5f1d2f29b6e350
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000769/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015858199913054705,
+  "shear_peak": 0.005565362051129341,
+  "force_magnitude_peak": 0.005925645586103201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 769,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000771/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000771/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f341408072a990dc43e73a53dd90c42978aac2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000771/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.7299270072992701,
+  "avg_contact_area": 4522.37,
+  "contact_entropy": 0.012146590661493581,
+  "total_frames": 137,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 771,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000772/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000772/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc613642e1678e3ea5dc200dd18a376fe17d6f32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000772/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.7722772277227723,
+  "avg_contact_area": 6514.397435897436,
+  "contact_entropy": 0.3405809906533926,
+  "total_frames": 202,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 772,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000776/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000776/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfbbc55d8b35e699e165c5da1d5de41108d0f84f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000776/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012888499768450856,
+  "shear_peak": 0.0019054271979257464,
+  "force_magnitude_peak": 0.003310802159830928,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 776,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000779/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000779/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ecfebc0835951c2405595486671de4031af099
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000779/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005010421155020595,
+  "shear_peak": 0.0014573567314073443,
+  "force_magnitude_peak": 0.0026963157579302788,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 779,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000782/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000782/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..259c6e10152ab81ac2c3de2ef48b17f1666a0e6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000782/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.6827956989247311,
+  "avg_contact_area": 1685.8661417322835,
+  "contact_entropy": 0.08213630540589455,
+  "total_frames": 186,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 782,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000784/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000784/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85250bd2a1a4421e532a5e55d25af6319ea413ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000784/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.6793478260869565,
+  "avg_contact_area": 2082.496,
+  "contact_entropy": 0.017733300342862322,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 784,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000788/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000788/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56ad2a795d81336921a466f46e6f160b2e64adf1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000788/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.7216981132075472,
+  "avg_contact_area": 1922.6601307189542,
+  "contact_entropy": 0.050432961564733904,
+  "total_frames": 212,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 788,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000794/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000794/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80c37c6c5c8f96261871f559d7c551ff639aee1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000794/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003776204539462924,
+  "shear_peak": 0.0037420066073536873,
+  "force_magnitude_peak": 0.00519217737019062,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 794,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..376798b84e68d89130f5beefe5639ddd2b9f7bed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.9,
+  "contact_ratio": 0.8068965517241379,
+  "avg_contact_area": 13479.726495726496,
+  "contact_entropy": 1.2661063172292792,
+  "total_frames": 145,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 795,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..918e323cf11f67fc58c704d5843d27b60abca9f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000795/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.04904414713382721,
+  "shear_peak": 0.043717727065086365,
+  "force_magnitude_peak": 0.06507903337478638,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 795,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000796/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000796/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e292c0e29985f19f3a16a4237205ff9a2f4969e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000796/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.9,
+  "contact_ratio": 0.6536312849162011,
+  "avg_contact_area": 4000.6324786324785,
+  "contact_entropy": 0.1285149050093812,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 796,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000797/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000797/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80801457b06ee2bd3d3a3c98492a697b7d3f779
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000797/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.05345691367983818,
+  "shear_peak": 0.029547691345214844,
+  "force_magnitude_peak": 0.061079517006874084,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 797,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000798/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000798/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c95b72717c08213eb2106bde00299bfb471e50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000798/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.8241758241758241,
+  "avg_contact_area": 2034.22,
+  "contact_entropy": 0.11026782857985354,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 798,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fe547c970e5f549112b5d5c8c5db8af239d218
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03935704007744789,
+  "shear_peak": 0.03536069020628929,
+  "force_magnitude_peak": 0.05282355099916458,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 801,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..edff70a1aa4feb39316d847f19f39447bea69564
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000801/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.05729566514492035,
+  "shear_peak": 0.040257468819618225,
+  "force_magnitude_peak": 0.06651896983385086,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 801,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000803/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000803/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbbeda326ce00b7c8322703aa96157fe21d2652
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000803/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.050787799060344696,
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+  "force_magnitude_peak": 0.06687525659799576,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 803,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000805/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000805/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e80427aa36d0a7f18de0ffb72ca437b3159b0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000805/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.8395061728395061,
+  "avg_contact_area": 15470.08088235294,
+  "contact_entropy": 1.0039541266933398,
+  "total_frames": 162,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 805,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000806/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000806/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5ab41d4de61cc7b9a27264656e623a757d2fe5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000806/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.6134969325153374,
+  "avg_contact_area": 6048.5,
+  "contact_entropy": 0.5451215749022652,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 806,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000808/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000808/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d7d72a8482e82d21374b96badf81f399281db67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000808/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029376705642789602,
+  "shear_peak": 0.001469163689762354,
+  "force_magnitude_peak": 0.003008733270689845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 808,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000809/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000809/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ccd89de6892c1d6fe3ce915106976579feb9e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000809/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03729112446308136,
+  "shear_peak": 0.022188888862729073,
+  "force_magnitude_peak": 0.04262688383460045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 809,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000811/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000811/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bde8ee2132f4f269a9622f126a4268be4a7290
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000811/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.1,
+  "contact_ratio": 0.7109826589595376,
+  "avg_contact_area": 17650.967479674797,
+  "contact_entropy": 1.233489141261761,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 811,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000812/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000812/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a83da52ca23a4b4056f120ff4be3e407fb49e85a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000812/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.8351648351648352,
+  "avg_contact_area": 2382.782894736842,
+  "contact_entropy": 0.14217835220959557,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 812,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000816/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000816/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8daa8c38824ad293f8bf25956373bd939d4771
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000816/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010344898328185081,
+  "shear_peak": 0.002463678363710642,
+  "force_magnitude_peak": 0.01046371553093195,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 816,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000819/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000819/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20fc0b749de51120d0a4fdf67529a3dc48e7f856
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000819/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023125349543988705,
+  "shear_peak": 0.0031678115483373404,
+  "force_magnitude_peak": 0.0035313963890075684,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 819,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000822/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000822/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba43a9398e8d2d7d790df5e2163dad55a59698ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000822/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3632.291731669267,
+  "contact_entropy": 0.408168956959757,
+  "total_frames": 641,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 822,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000824/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000824/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d752411c302ed77c58ecfe0355a0ae0f9c91dc09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000824/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.133333333333333,
+  "contact_ratio": 0.9503311258278145,
+  "avg_contact_area": 3980.545296167247,
+  "contact_entropy": 0.3451494746677528,
+  "total_frames": 604,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 824,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000828/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000828/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..593b5b17191d3f32662395c17fecb29993deed3b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000828/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.533333333333335,
+  "contact_ratio": 0.9488054607508533,
+  "avg_contact_area": 3321.113309352518,
+  "contact_entropy": 0.43296929615868573,
+  "total_frames": 586,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 828,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000834/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000834/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a77bd150038015bb5205d5df789a115ab674a5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000834/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010754645802080631,
+  "shear_peak": 0.005793220829218626,
+  "force_magnitude_peak": 0.01171262376010418,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 834,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000835/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000835/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b8d268d96252faec6d956156abb5f38dfffd6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000835/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011099944822490215,
+  "shear_peak": 0.007711995393037796,
+  "force_magnitude_peak": 0.013516051694750786,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 835,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000836/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000836/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a0be1732b23537eaa4e9d4d1413ef03f2b1959
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000836/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.7,
+  "contact_ratio": 0.9093264248704663,
+  "avg_contact_area": 4395.222222222223,
+  "contact_entropy": 0.3014340757424449,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 836,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000837/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000837/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfba3243ff5cdefcd706ee647d14382213f606fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000837/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011515477672219276,
+  "shear_peak": 0.004497027490288019,
+  "force_magnitude_peak": 0.011517710983753204,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 837,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000838/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000838/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35bce8a2e5cbff8aea515bc2af8aeff2dbd2102b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000838/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.9,
+  "contact_ratio": 0.954233409610984,
+  "avg_contact_area": 6665.496402877698,
+  "contact_entropy": 0.4610958970644988,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 838,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff82db83469e262f652bb67ad93d99001cea6225
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013778654858469963,
+  "shear_peak": 0.0034139167983084917,
+  "force_magnitude_peak": 0.013914253562688828,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 841,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a93c175b90e006c20192046e21eabbc4bba27d4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000841/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013863549567759037,
+  "shear_peak": 0.0053612422198057175,
+  "force_magnitude_peak": 0.013948961161077023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 841,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000843/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000843/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd534f9bbbf9af44e5639f693abc6784e443eae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000843/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015113841742277145,
+  "shear_peak": 0.0038793301209807396,
+  "force_magnitude_peak": 0.015277422964572906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 843,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000845/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000845/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec275d79db8bef9e275d54cf6c7696dce3d57bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000845/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.266666666666666,
+  "contact_ratio": 0.9179229480737019,
+  "avg_contact_area": 6792.762773722628,
+  "contact_entropy": 0.513299554678118,
+  "total_frames": 597,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 845,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000846/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000846/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b341315dffc662afebad64257ec0605d629d931
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000846/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.733333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1233.9606741573034,
+  "contact_entropy": 0.15735996285618908,
+  "total_frames": 712,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 846,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000848/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000848/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0c25c6e5523d6f55721042ed00c0e00db0a2c4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000848/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007590424735099077,
+  "shear_peak": 0.005294788628816605,
+  "force_magnitude_peak": 0.007603588979691267,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 848,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000849/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000849/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55aba1ac4368aa19202c6f73aae836e153c406fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000849/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010036363266408443,
+  "shear_peak": 0.003874647431075573,
+  "force_magnitude_peak": 0.010586350224912167,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 849,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000851/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000851/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..514c0071e3c01802c6e00babbe5c29b3f0db073e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000851/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.266666666666667,
+  "contact_ratio": 0.8708971553610503,
+  "avg_contact_area": 4833.497487437186,
+  "contact_entropy": 0.375031401700379,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 851,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000852/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000852/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf65d0b982d8651833a27eced874cf7f726d5166
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000852/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.9185750636132316,
+  "avg_contact_area": 5858.659279778393,
+  "contact_entropy": 0.2780551348581669,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 852,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000856/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000856/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9b95757e0442c7e7ce0a0e144966ba8f416b58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000856/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018352173268795013,
+  "shear_peak": 0.004631842486560345,
+  "force_magnitude_peak": 0.01892765797674656,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 856,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000859/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000859/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e1f26dd21f182d4296587b347c11e601404b22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000859/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02505609393119812,
+  "shear_peak": 0.012607288546860218,
+  "force_magnitude_peak": 0.025107115507125854,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 859,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000862/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000862/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a99b73e47a94fcce98e5f6ec3afd5a7763d739
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000862/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.666666666666668,
+  "contact_ratio": 0.9540034071550255,
+  "avg_contact_area": 5823.558928571429,
+  "contact_entropy": 0.43596090349439637,
+  "total_frames": 587,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 862,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000864/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000864/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d72a63efa56daf9a423aa64402fb25573c30b376
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000864/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.766666666666667,
+  "contact_ratio": 0.9403578528827038,
+  "avg_contact_area": 6768.547568710359,
+  "contact_entropy": 0.28021833747391683,
+  "total_frames": 503,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 864,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000868/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000868/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa9a78c0591e88c75d411047d058a40808c7bfe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000868/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.533333333333333,
+  "contact_ratio": 0.9206349206349206,
+  "avg_contact_area": 6147.169950738917,
+  "contact_entropy": 0.5476319003894391,
+  "total_frames": 441,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 868,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000874/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000874/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db0087568b8efaa3d31c5662198007044d1ea17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000874/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007271875510923564,
+  "shear_peak": 0.002133150352165103,
+  "force_magnitude_peak": 0.0028834680560976267,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 874,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23012240fc4313bb07a93b1e1fb172ddab6ff324
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.166666666666666,
+  "contact_ratio": 0.9240506329113924,
+  "avg_contact_area": 620.8931506849315,
+  "contact_entropy": 0.46429985239950433,
+  "total_frames": 395,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 875,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..487ed41399a2d306ec67bf083c9d42ca862b3307
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000875/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018377425149083138,
+  "shear_peak": 0.002558344043791294,
+  "force_magnitude_peak": 0.002635330194607377,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 875,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000876/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000876/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99269a63a274247cfb760e12794772bf82f76ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000876/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.8,
+  "contact_ratio": 0.9164677804295943,
+  "avg_contact_area": 625.15625,
+  "contact_entropy": 0.01251039740139256,
+  "total_frames": 419,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 876,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000877/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000877/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d72fa72e395750f8a2cf6c8545d0d0802bc9f067
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000877/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008342013694345951,
+  "shear_peak": 0.003410834353417158,
+  "force_magnitude_peak": 0.008344091475009918,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 877,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000878/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000878/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..793d4cf652ada36626e989edc4aac77dc2a4aeaa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000878/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.8535211267605634,
+  "avg_contact_area": 2035.9141914191418,
+  "contact_entropy": 0.21179671068897557,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 878,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b404a1d190139dc9fa18605e4e0b39e061abf3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004687025211751461,
+  "shear_peak": 0.0021995059214532375,
+  "force_magnitude_peak": 0.00482907984405756,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 881,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9c2ff2bdb301707d2926b99027b0092968193b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000881/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007452595047652721,
+  "shear_peak": 0.0028117517940700054,
+  "force_magnitude_peak": 0.007564924657344818,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 881,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000883/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000883/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a627fbe92fa4a21baa9aaba8821bfc4e0acef9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000883/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008790719322860241,
+  "shear_peak": 0.007835699245333672,
+  "force_magnitude_peak": 0.01125212013721466,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 883,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000885/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000885/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8b57b3552b9b4870afa0dc5a6e4a0008acebd9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000885/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.933333333333334,
+  "contact_ratio": 0.7933333333333333,
+  "avg_contact_area": 1252.5588235294117,
+  "contact_entropy": 0.006492744576028333,
+  "total_frames": 300,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 885,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000886/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000886/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed5bcefe0dabe8058e82ebfa2a6fb1f0f55f964
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000886/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.5,
+  "contact_ratio": 0.8559782608695652,
+  "avg_contact_area": 2949.4380952380952,
+  "contact_entropy": 0.31882243821437306,
+  "total_frames": 368,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 886,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000888/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000888/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a5d63348c4465afb912be988922de4c8625e331
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000888/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015558234881609678,
+  "shear_peak": 0.0021015421953052282,
+  "force_magnitude_peak": 0.0025538576301187277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 888,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000889/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000889/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f57f3743e463b575d82047f4cb5921ca9de98a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000889/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004117169417440891,
+  "shear_peak": 0.0027551562525331974,
+  "force_magnitude_peak": 0.004453885834664106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 889,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000891/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000891/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51c18f6ce5e4a66b5f30057183233508b5aa5bc3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000891/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.866666666666667,
+  "contact_ratio": 0.8129675810473815,
+  "avg_contact_area": 1136.723926380368,
+  "contact_entropy": 0.32283915657053386,
+  "total_frames": 401,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 891,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000892/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000892/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1756d48d6873d279c0cedafc2dbf54379f68a9a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000892/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.8173913043478261,
+  "avg_contact_area": 1342.6666666666667,
+  "contact_entropy": 0.26297428831643715,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 892,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000896/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000896/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7393299284dc3e94dc3f3e535995174fe03e4970
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000896/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029497905634343624,
+  "shear_peak": 0.001300040865316987,
+  "force_magnitude_peak": 0.003034397726878524,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 896,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000899/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000899/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1c1883dd7936aa5cd160d222268ecc6ba614e15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000899/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002013251418247819,
+  "shear_peak": 0.0036505544558167458,
+  "force_magnitude_peak": 0.0038858072366565466,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 899,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000902/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000902/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ede4e964b113951b3e7f3a6e421df49c7a2b29d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000902/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 0.825974025974026,
+  "avg_contact_area": 1001.3333333333334,
+  "contact_entropy": 0.4402739940690256,
+  "total_frames": 385,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 902,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000904/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000904/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..547539d5c55dcf0789413f0c3c71731bef0aefcf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000904/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.9032258064516129,
+  "avg_contact_area": 596.8392857142857,
+  "contact_entropy": 0.11504085908400426,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 904,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000914/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000914/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f65abfe632961738f6bdda99fa6e2e1b7cbe89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000914/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015760633395984769,
+  "shear_peak": 0.002005453687161207,
+  "force_magnitude_peak": 0.002213369822129607,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 914,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0112ba7b0df31f4cd7438b2260092404616395
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.5,
+  "contact_ratio": 0.8284883720930233,
+  "avg_contact_area": 1055.578947368421,
+  "contact_entropy": 0.23749782033224984,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 915,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57b48fdff08246496813f67982d33c110e9c483
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000915/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005194252356886864,
+  "shear_peak": 0.003136744722723961,
+  "force_magnitude_peak": 0.0052072033286094666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 915,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000916/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000916/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca24bbc4d99fa5197a649419db4a3ba09e92ce0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000916/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.7,
+  "contact_ratio": 0.8501628664495114,
+  "avg_contact_area": 1609.183908045977,
+  "contact_entropy": 0.016630296514475548,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 916,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000917/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000917/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..594b2be31c48709e8bf389af74d6b8c74e5f3093
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000917/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00614963797852397,
+  "shear_peak": 0.0041449349373579025,
+  "force_magnitude_peak": 0.00632651848718524,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 917,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000918/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000918/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b68f95d30c5e1f59fee8a629ba497c93aa6651
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000918/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.7967032967032966,
+  "avg_contact_area": 1302.8241379310346,
+  "contact_entropy": 0.0922197547307806,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 918,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0fc563be3bf0a2f6794800b7833910c8f0c786e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004918118007481098,
+  "shear_peak": 0.002935421420261264,
+  "force_magnitude_peak": 0.0049286033026874065,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 921,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e61c5180f2a93d100249c77b6523b0bf517e3cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000921/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003511797869578004,
+  "shear_peak": 0.001978834392502904,
+  "force_magnitude_peak": 0.0036496762186288834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 921,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000923/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000923/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59339df0d34aa1ded89b9511ddfb2693100436e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000923/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00443482818081975,
+  "shear_peak": 0.001961903879418969,
+  "force_magnitude_peak": 0.00483747897669673,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 923,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000925/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000925/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..637daa8a2776beb06e2364175635ecb17e004a4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000925/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.8807588075880759,
+  "avg_contact_area": 2368.9784615384615,
+  "contact_entropy": 0.45778551933189804,
+  "total_frames": 369,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 925,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000926/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000926/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cc114f649932cf66fc484cc73c16130057f60f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000926/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.7887323943661971,
+  "avg_contact_area": 1763.013392857143,
+  "contact_entropy": 0.18174431256332446,
+  "total_frames": 284,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 926,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000928/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000928/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89cbb28f598399996e9095e57af46862ca7c3ed1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000928/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005179322324693203,
+  "shear_peak": 0.00699252774938941,
+  "force_magnitude_peak": 0.008681461215019226,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 928,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000929/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000929/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee5a1a24acb4dd585cceba8b9565cbfaae96b6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000929/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009770962409675121,
+  "shear_peak": 0.008592650294303894,
+  "force_magnitude_peak": 0.012993767857551575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 929,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000931/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000931/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d048de9f6dd21d0f43f4b49e6e3730adccee86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000931/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.9127906976744186,
+  "avg_contact_area": 1763.9617834394905,
+  "contact_entropy": 0.11378919704821974,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 931,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000936/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000936/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70daf3d0e6a6b913a585e090c08792a0f0222fe3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000936/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012918441789224744,
+  "shear_peak": 0.0022024186328053474,
+  "force_magnitude_peak": 0.002523248316720128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 936,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000939/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000939/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf1f4ab6e89045e361d7e87679cd0438684a270
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000939/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018155280267819762,
+  "shear_peak": 0.0035483003593981266,
+  "force_magnitude_peak": 0.0036685289815068245,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 939,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000942/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000942/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02671bc160c69759384660be222a611d34fd0c27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000942/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.666666666666667,
+  "contact_ratio": 0.7931034482758621,
+  "avg_contact_area": 732.4739130434782,
+  "contact_entropy": 0.00241592351892006,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 942,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000944/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000944/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1296014975045cf655995b4accb29e1aa848f662
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000944/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8170731707317073,
+  "avg_contact_area": 1402.294776119403,
+  "contact_entropy": 0.04105177161270051,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 944,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000948/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000948/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..986b9560e1a7875ff9a384cff3e608e1e2cc7d56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000948/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.9044585987261147,
+  "avg_contact_area": 1771.4049295774648,
+  "contact_entropy": 0.13451151758049637,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 948,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a762748dcd3d0d54b6569c23d6448aaa57dd3ec8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.933333333333334,
+  "contact_ratio": 0.9086294416243654,
+  "avg_contact_area": 863.68156424581,
+  "contact_entropy": 0.13220415801695623,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 953,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a112426d9a21516d8e2beccdadf5a32e08e969d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000953/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.766666666666667,
+  "contact_ratio": 0.9720812182741116,
+  "avg_contact_area": 1304.0052219321149,
+  "contact_entropy": 0.08750454879458627,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 953,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000960/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000960/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..253aef275a774ed6eccdddfbcc48b2ea86619836
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000960/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009109633043408394,
+  "shear_peak": 0.0032386418897658587,
+  "force_magnitude_peak": 0.009114987216889858,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 960,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000961/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000961/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c5bf565c91ae9b86f3b08c60a7c2233f66e259
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000961/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 0.9255583126550868,
+  "avg_contact_area": 716.7962466487936,
+  "contact_entropy": 0.16124649654831458,
+  "total_frames": 403,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 961,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000963/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000963/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21139b24f5ddfe8460cfb9bf61e79333902f340
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000963/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.166666666666666,
+  "contact_ratio": 0.9792626728110599,
+  "avg_contact_area": 2582.696470588235,
+  "contact_entropy": 0.18083096941914734,
+  "total_frames": 434,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 963,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000964/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000964/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5cbd054f663c12d2fab7e30a31bfc1740945f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000964/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037355211097747087,
+  "shear_peak": 0.003456628881394863,
+  "force_magnitude_peak": 0.00507927592843771,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 964,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000002/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000002/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e3fae831b96be6e767e46f5185a4db25de8b1f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000002/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033336204942315817,
+  "shear_peak": 0.005368816200643778,
+  "force_magnitude_peak": 0.006196727976202965,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 2,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000003/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000003/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..834c531088a73990d0b7e132701f50c2565e1d9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000003/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029410049319267273,
+  "shear_peak": 0.00466782646253705,
+  "force_magnitude_peak": 0.004668387584388256,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 3,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000005/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000005/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ccb4bbe0dfa14a5112f0b96c9b9e8f47260685
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000005/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.166666666666667,
+  "contact_ratio": 0.6891025641025641,
+  "avg_contact_area": 1538.260465116279,
+  "contact_entropy": 0.6425149999070896,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 5,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000007/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000007/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78ff59bee4f1fc8e884c7f8ea32d3b8aa7f8be4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000007/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0047132037580013275,
+  "shear_peak": 0.0043576559983193874,
+  "force_magnitude_peak": 0.005555418785661459,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 7,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000008/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000008/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d796c345e8543148a69975ebee57e9139f8e77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000008/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008584428578615189,
+  "shear_peak": 0.002902659121900797,
+  "force_magnitude_peak": 0.008747823536396027,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 8,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000010/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000010/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4e99a12addbeffb412ed81b35e1d4f0a0c7672
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000010/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014896782813593745,
+  "shear_peak": 0.008236912079155445,
+  "force_magnitude_peak": 0.008282099850475788,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 10,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd27ab8c8058cc4591a01d46eb5823f8eaeecabc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.6677852348993288,
+  "avg_contact_area": 600.7437185929648,
+  "contact_entropy": 0.37981093644459346,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 15,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a92dbb6a486ae2988ee3585557031e5a32f10a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000015/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005734250880777836,
+  "shear_peak": 0.0021499113645404577,
+  "force_magnitude_peak": 0.0058211153373122215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 15,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d848441d011829e6f28777fc303f2e8fe7eb493f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8666666666666667,
+  "contact_ratio": 0.35833333333333334,
+  "avg_contact_area": 1353.6860465116279,
+  "contact_entropy": 0.48631047959192797,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 16,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd0f2d1d4a8f07eb3f7aa39a677d072084e9d9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000016/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030634470749646425,
+  "shear_peak": 0.01183364912867546,
+  "force_magnitude_peak": 0.011833669617772102,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 16,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000017/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000017/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f874a5a7dc52e50aed787ec414c155231d2865
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000017/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.366666666666667,
+  "contact_ratio": 0.7943037974683544,
+  "avg_contact_area": 1129.5577689243028,
+  "contact_entropy": 0.3903202836274073,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 17,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000018/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000018/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b0e4bba27ea2b80fbf30b27ed2eb20db67ea09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000018/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.7,
+  "contact_ratio": 0.7699115044247787,
+  "avg_contact_area": 3478.662835249042,
+  "contact_entropy": 0.44469917558947386,
+  "total_frames": 339,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 18,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000019/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000019/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..090c5feeea4680181f53b31649b47732a3ac183b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000019/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008346255868673325,
+  "shear_peak": 0.0049692136235535145,
+  "force_magnitude_peak": 0.008400297723710537,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 19,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9287dd71e3b315717b394a44e3fbbfb66ef7ff65
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.466666666666667,
+  "contact_ratio": 0.610062893081761,
+  "avg_contact_area": 726.3092783505155,
+  "contact_entropy": 0.4105041349749749,
+  "total_frames": 318,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 22,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..988ba1d5c73c4eedf176132a14851a65317a9436
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000022/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002589935204014182,
+  "shear_peak": 0.005715081002563238,
+  "force_magnitude_peak": 0.006099211052060127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 22,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000023/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000023/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d72a3bc7ae3f904315e3e932ce8a021b2ddf1fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000023/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.5851393188854489,
+  "avg_contact_area": 1031.3333333333333,
+  "contact_entropy": 0.48876688843851124,
+  "total_frames": 323,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 23,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000031/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000031/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc4cef3fbe584d65e7e298af028da9c15ec760b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000031/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.7,
+  "contact_ratio": 0.6360759493670886,
+  "avg_contact_area": 1354.1741293532339,
+  "contact_entropy": 0.6726944416321485,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 31,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000033/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000033/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d49fd9a8ed0efb0cb309a8a19fdbaf950a77f85
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000033/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6,
+  "contact_ratio": 0.3927272727272727,
+  "avg_contact_area": 158.91666666666666,
+  "contact_entropy": 0.0,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 33,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f3465a10b1e0248f7ccf118606987411cf13fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003395721549168229,
+  "shear_peak": 0.0020737373270094395,
+  "force_magnitude_peak": 0.0034546691458672285,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 35,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbccdc30d3fb142268fedcabf46088bda4556c11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.4223433242506812,
+  "avg_contact_area": 1729.0064516129032,
+  "contact_entropy": 0.35188699102264004,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 35,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c9c45df43189170d9950ac92bb370513443e80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000035/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034706182777881622,
+  "shear_peak": 0.004886801354587078,
+  "force_magnitude_peak": 0.005966821685433388,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 35,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000040/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000040/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9960ef13198dff4a44aa94b034f0301ec9f75bd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000040/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008873404003679752,
+  "shear_peak": 0.01039084978401661,
+  "force_magnitude_peak": 0.013664079830050468,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 40,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1c91a43117853b5cae1e9712862d3a06b7c30b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00528534734621644,
+  "shear_peak": 0.005341287236660719,
+  "force_magnitude_peak": 0.007514269556850195,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 42,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0605316135f4b8a0bec67548ed19640a6a73ccd6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000042/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01119571179151535,
+  "shear_peak": 0.008913056924939156,
+  "force_magnitude_peak": 0.013018924742937088,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 42,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000045/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000045/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08aceecc141a2e48d8baaa5b17cc024225b969f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000045/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.6437768240343348,
+  "avg_contact_area": 145.22666666666666,
+  "contact_entropy": 0.0,
+  "total_frames": 233,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 45,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000047/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000047/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a5cff256ac892a3a18512cb036d7394896579ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000047/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.4353448275862069,
+  "avg_contact_area": 502.019801980198,
+  "contact_entropy": 0.2928324771991717,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 47,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000051/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000051/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..644f2aadb00dc9e241311fee0ce33a889d2cfcfd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000051/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008558031171560287,
+  "shear_peak": 0.004394540097564459,
+  "force_magnitude_peak": 0.009537591598927975,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 51,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000052/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000052/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df357efced98ac847a2f79a99011c1f6fb9e150
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000052/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.6967509025270758,
+  "avg_contact_area": 701.8290155440415,
+  "contact_entropy": 0.2574849758599209,
+  "total_frames": 277,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 52,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000053/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000053/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d60e45d6f39d3e9bde0eb3cf47af273b65b68aac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000053/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038426141254603863,
+  "shear_peak": 0.0038730481173843145,
+  "force_magnitude_peak": 0.005253953859210014,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 53,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000055/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000055/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d6597ac9705ea1924d11f73a732d9c5e5bd521
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000055/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002316041151061654,
+  "shear_peak": 0.0020591148640960455,
+  "force_magnitude_peak": 0.002397092990577221,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 55,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..252eb25d60202f8ee3217e92a7c05d4e17755b75
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.7228915662650602,
+  "avg_contact_area": 732.2666666666667,
+  "contact_entropy": 0.3187061744943773,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 56,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1bcb239714a7e7c5a04ec3704ccd8cdb6d40e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000056/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004692547954618931,
+  "shear_peak": 0.00665731355547905,
+  "force_magnitude_peak": 0.007438802160322666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 56,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000060/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000060/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f350346408ed75111eaf1097f0e692bf721f820
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000060/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.5,
+  "contact_ratio": 0.8211678832116789,
+  "avg_contact_area": 883.0044444444444,
+  "contact_entropy": 0.21843877344876053,
+  "total_frames": 274,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 60,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..588815d18f848a4af264aa5ee6c952917e0715c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.6826086956521739,
+  "avg_contact_area": 814.0764331210191,
+  "contact_entropy": 0.5244495107046535,
+  "total_frames": 230,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 62,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d552752a66ebc1d15ea0e9172a9b41519c210c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000062/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036989215295761824,
+  "shear_peak": 0.00469352537766099,
+  "force_magnitude_peak": 0.005967141594737768,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 62,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000063/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000063/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cd277843a614325e5d7df4e6f96ecb308e10b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000063/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.566666666666666,
+  "contact_ratio": 0.7911646586345381,
+  "avg_contact_area": 1031.6345177664975,
+  "contact_entropy": 0.5274490395190837,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 63,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000071/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000071/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..488cb1e9504773897f1db644475983e8c178283e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000071/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.7266187050359713,
+  "avg_contact_area": 1194.5148514851485,
+  "contact_entropy": 0.5607123010049037,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 71,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000073/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000073/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4778fd53d793cea2b9bef74b1108acb2d45d00
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000073/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.6986301369863014,
+  "avg_contact_area": 1644.862745098039,
+  "contact_entropy": 0.3955464706202912,
+  "total_frames": 292,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 73,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..662144b2a805422017c41aa02afa83f28a2cb6e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005851817782968283,
+  "shear_peak": 0.009691511280834675,
+  "force_magnitude_peak": 0.011222288012504578,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 75,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ddbe09a71df669a309b5d3bb10eba77430b864
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.0,
+  "contact_ratio": 0.8108108108108109,
+  "avg_contact_area": 3154.285714285714,
+  "contact_entropy": 0.5923145076754803,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 75,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a51baedf22becfac189493da6fb60b9a74ef226
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000075/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009042483754456043,
+  "shear_peak": 0.008607251569628716,
+  "force_magnitude_peak": 0.012424047105014324,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 75,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000080/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000080/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b541e68b9f5512c53eac50d00012e571fbe0dd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000080/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004268502816557884,
+  "shear_peak": 0.00826018862426281,
+  "force_magnitude_peak": 0.008261796087026596,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 80,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7bd8805a2e9c5b9fe6f01782281bf98b21deee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00359857059083879,
+  "shear_peak": 0.005240757483989,
+  "force_magnitude_peak": 0.006300812121480703,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 82,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7fc4bd535c2daa2ea07110752917470c22ad6a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000082/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021610877010971308,
+  "shear_peak": 0.004311306402087212,
+  "force_magnitude_peak": 0.004711611662060022,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 82,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000085/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000085/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..066724d5185aadb15f7c554c70fad0f42535142e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000085/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.6217228464419475,
+  "avg_contact_area": 3358.5361445783133,
+  "contact_entropy": 0.36164028518835706,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 85,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000087/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000087/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9028a8d6e11730f80429b6539653e9e515e920b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000087/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.933333333333334,
+  "contact_ratio": 0.7752442996742671,
+  "avg_contact_area": 1084.1806722689075,
+  "contact_entropy": 0.29235904355603076,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 87,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000091/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000091/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43491d9a052792aa517faef8d7fecaf44b238bc1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000091/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008363350294530392,
+  "shear_peak": 0.007284978870302439,
+  "force_magnitude_peak": 0.008587382733821869,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 91,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000092/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000092/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35817732cedbc2fac4601baa22b583cf0a9da27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000092/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.8076923076923077,
+  "avg_contact_area": 2458.4920634920636,
+  "contact_entropy": 0.42096240605333596,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 92,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000093/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000093/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb8d6f5f971b96bec5c67541dc5784003733edb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000093/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009088403545320034,
+  "shear_peak": 0.006381136365234852,
+  "force_magnitude_peak": 0.010226001031696796,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 93,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000095/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000095/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9601729bff680b63ec94d7bb041bb5ca57a632bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000095/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002964338520541787,
+  "shear_peak": 0.002543345093727112,
+  "force_magnitude_peak": 0.003013100242242217,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 95,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9ca19f23a3fe83ae4e034e88af5c7b5b027e0cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.6438356164383562,
+  "avg_contact_area": 3833.8829787234044,
+  "contact_entropy": 0.6299667735342487,
+  "total_frames": 292,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 96,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e2836889d7fd12a4c37e956814fc5e15a65de0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000096/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010528652928769588,
+  "shear_peak": 0.006533005274832249,
+  "force_magnitude_peak": 0.011284083127975464,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 96,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9952a7d60e4ed0bad5e04f160c1b815b2be99eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.2,
+  "contact_ratio": 0.8780487804878049,
+  "avg_contact_area": 1324.162037037037,
+  "contact_entropy": 0.5267134596789119,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 100,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b060835ee1017c9bd85229bbab92a45a70c6330e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.5667752442996743,
+  "avg_contact_area": 1061.6954022988505,
+  "contact_entropy": 0.09876083609342906,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 102,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c02bb906ce201e846d7146b395d4b3f786d933
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000102/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005036977119743824,
+  "shear_peak": 0.00634327856823802,
+  "force_magnitude_peak": 0.008099895901978016,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 102,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000103/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000103/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa62477ca93bea1e8f9e676392fab2446b6d47f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000103/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.84251968503937,
+  "avg_contact_area": 2909.07476635514,
+  "contact_entropy": 0.44639646618734147,
+  "total_frames": 254,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 103,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000111/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000111/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8826794b92d45d7f916c0a53f0a997bea29395e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000111/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.966666666666667,
+  "contact_ratio": 0.8566308243727598,
+  "avg_contact_area": 2053.4351464435144,
+  "contact_entropy": 0.49230324406336523,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 111,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000113/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000113/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b05bc35ddfc4122fab36561bf1c359956ac0b149
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000113/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.766666666666667,
+  "contact_ratio": 0.6651162790697674,
+  "avg_contact_area": 34190.42657342657,
+  "contact_entropy": 0.9929089481888489,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 113,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33e3292a60f7406581a491395edb6f11c319fde
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016853795386850834,
+  "shear_peak": 0.001287207705900073,
+  "force_magnitude_peak": 0.0017992932116612792,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 115,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec96515119356a961336fbd529b35e748c70d878
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.16666666666666666,
+  "contact_ratio": 0.025252525252525252,
+  "avg_contact_area": 2.2,
+  "contact_entropy": 0.0,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af675c1e7525fc1427316b4ec22f5da16ae269fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00035748176742345095,
+  "shear_peak": 0.0016533158486708999,
+  "force_magnitude_peak": 0.001665016752667725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000120/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000120/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78273736d774fb51286cb97bc875f1aafa8b197
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000120/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006482464959844947,
+  "shear_peak": 0.0025525828823447227,
+  "force_magnitude_peak": 0.002633610274642706,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 120,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c53d8a1db5ce7748c194fb49dada5687d97d3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004990878514945507,
+  "shear_peak": 0.0008566623437218368,
+  "force_magnitude_peak": 0.0009181819041259587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 122,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1564f3001105bd89e70f67fc0188f90f3499ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000122/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00025416960124857724,
+  "shear_peak": 0.0015409658662974834,
+  "force_magnitude_peak": 0.0030968121718615294,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 122,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000125/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000125/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca2dfbbd223d6a49e01f60de1b20e0ff7d2807a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000125/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.4434389140271493,
+  "avg_contact_area": 47.57142857142857,
+  "contact_entropy": 0.0,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 125,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000127/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000127/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf2babfad63f690d42044ec2d639e965fb9ba33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000127/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.0666666666666667,
+  "contact_ratio": 0.1198501872659176,
+  "avg_contact_area": 3.84375,
+  "contact_entropy": 0.0,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 127,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000131/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000131/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4075012ce897c394d25a67af91377a5adc9112d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000131/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003309145395178348,
+  "shear_peak": 0.002036566846072674,
+  "force_magnitude_peak": 0.003055180888622999,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 131,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000132/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000132/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..013e0782f3c14c043be2fba602a6d557f574509d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000132/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 12298.745098039215,
+  "contact_entropy": 1.3685731005188786,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000133/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000133/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..695eb66ddb7216221a40ba8a4c35cd7991d7b2f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000133/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004919128259643912,
+  "shear_peak": 0.0006085634813643992,
+  "force_magnitude_peak": 0.0007232019561342895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 133,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000135/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000135/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d13d8063d8bab730cf3326ea3cc57b8af965460
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000135/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003654898318927735,
+  "shear_peak": 0.0012066108174622059,
+  "force_magnitude_peak": 0.0012932565296068788,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 135,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e97d61e95439a738cb508b3331628897a7d64a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.4,
+  "avg_contact_area": 20.5609756097561,
+  "contact_entropy": 0.0,
+  "total_frames": 205,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 136,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f284233ea96859727b32ca8f3be1128ce2fea41
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000136/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000767083081882447,
+  "shear_peak": 0.0005338620976544917,
+  "force_magnitude_peak": 0.0009121261537075043,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 136,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000140/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000140/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d5e2c0abbef6ea73cf59f100176f09e0a224f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000140/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.8,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 18253.890151515152,
+  "contact_entropy": 1.0392053094304505,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 140,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec132a14781a879867582631453c5228d0847e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.0,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 18984.866666666665,
+  "contact_entropy": 1.2164724334680532,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 142,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca00bc49ad477f9d586afddca84277ebf82a0ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000142/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0489291176199913,
+  "shear_peak": 0.03144439309835434,
+  "force_magnitude_peak": 0.058159731328487396,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 142,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000143/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000143/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63be1547bc205b76bd19bffb32c24fb80c85bed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000143/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.5860215053763441,
+  "avg_contact_area": 29.155963302752294,
+  "contact_entropy": 0.0,
+  "total_frames": 186,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 143,
+  "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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000151/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000151/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb1071f2b0b473a25e7af3706755ef80985ab90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000151/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.366666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 16736.15706806283,
+  "contact_entropy": 1.223109951627294,
+  "total_frames": 191,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 151,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000153/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000153/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46dcce17228b5b422d011fad874a8a737cb0763a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000153/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 28932.75903614458,
+  "contact_entropy": 0.9209138784774809,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 153,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8c24e12b0144e5a65a0bee4e60ceaefd9e57667
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03959043696522713,
+  "shear_peak": 0.03712371736764908,
+  "force_magnitude_peak": 0.05421437695622444,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 155,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1377e03f52fb17b407fd9d2edf417f11c9c6de3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.71875,
+  "avg_contact_area": 45991.89565217392,
+  "contact_entropy": 0.8238402223911139,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90a12dd4ff33931a4862fda90610960e24a37bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000155/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.04028502106666565,
+  "shear_peak": 0.03317739814519882,
+  "force_magnitude_peak": 0.050404079258441925,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000160/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000160/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc21a82c3daec0a81513974f7193ce7da46af73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000160/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03474194556474686,
+  "shear_peak": 0.03194477781653404,
+  "force_magnitude_peak": 0.04613767936825752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68bc0ee15952cbaf77b5703ebaa8b65a1ce8ea5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03495559096336365,
+  "shear_peak": 0.0360620878636837,
+  "force_magnitude_peak": 0.0500846765935421,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 162,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ee4609a6e956d4d08c64ae54080c551b9466e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000162/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03474055975675583,
+  "shear_peak": 0.031862061470746994,
+  "force_magnitude_peak": 0.046178366988897324,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 162,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000165/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000165/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..689d811eb28f8a49d2388ba026c2aae5c80ff5ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000165/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.7043010752688172,
+  "avg_contact_area": 78.2824427480916,
+  "contact_entropy": 0.0,
+  "total_frames": 186,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 165,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000167/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000167/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab986628e632c503abe92a72cdd5e8c487e6448
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000167/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.0666666666666667,
+  "contact_ratio": 0.11895910780669144,
+  "avg_contact_area": 77.6875,
+  "contact_entropy": 0.0,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 167,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000171/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000171/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be11161b605cbd8c8fd82b971b6264dcde2048f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000171/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009709111182019114,
+  "shear_peak": 0.0015210299752652645,
+  "force_magnitude_peak": 0.002296667080372572,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 171,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000172/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000172/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3afe400bcf7eb4c05e7ee207a07f989a7c715ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000172/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 26433.81990521327,
+  "contact_entropy": 1.0066053185668977,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 172,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000173/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000173/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c5e2d8c24faa2a937cb4e4d338ab890dcf0661
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000173/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003194534801878035,
+  "shear_peak": 0.0015918376157060266,
+  "force_magnitude_peak": 0.001711985096335411,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 173,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000175/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000175/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d1787c193ae9dcc7e3db699e9b3c1e7d25da1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000175/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03302536532282829,
+  "shear_peak": 0.034217625856399536,
+  "force_magnitude_peak": 0.04755545035004616,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 175,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bacee88134185baea7184d9baf140ded22eb61b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.966666666666667,
+  "contact_ratio": 0.664804469273743,
+  "avg_contact_area": 82.6218487394958,
+  "contact_entropy": 0.0,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 176,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1248fa5cadcada3870a63441d1a17ecbda991b0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000176/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008916377555578947,
+  "shear_peak": 0.0021851107012480497,
+  "force_magnitude_peak": 0.002304028021171689,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 176,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000180/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000180/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a411733388712156b4bc004f135ab553028612d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000180/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 16297.16923076923,
+  "contact_entropy": 1.144164661454879,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 180,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000191/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000191/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b428f0f761d2545c2eb5e50c5e97715a2ab32b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000191/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.0,
+  "contact_ratio": 0.0,
+  "avg_contact_area": 0.0,
+  "contact_entropy": 0.0,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 191,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000207/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000207/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a83b6a84a78ff58624803cb4e482497e55fe88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000207/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.9,
+  "contact_ratio": 0.6610169491525424,
+  "avg_contact_area": 44.99145299145299,
+  "contact_entropy": 0.0,
+  "total_frames": 177,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 207,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file