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/ep000289/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/ep000289/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04fa9e68637d53e75e9d29a4553188799e85450f
--- /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/ep000289/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.49107142857142855,
+  "avg_contact_area": 205.15454545454546,
+  "contact_entropy": 0.07499120156487614,
+  "total_frames": 224,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 289,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000670/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/ep000670/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5209f0aec61979d9e91f704a07f8a4d0fe177893
--- /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/ep000670/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2333333333333334,
+  "contact_ratio": 0.13009708737864079,
+  "avg_contact_area": 1676.8358208955224,
+  "contact_entropy": 0.5915571501982835,
+  "total_frames": 515,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 670,
+  "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/ep000686/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/ep000686/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a27c24a55433320777577a7bfd8c54ec69613a
--- /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/ep000686/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.22371967654986524,
+  "avg_contact_area": 618.4939759036145,
+  "contact_entropy": 0.09022547965447825,
+  "total_frames": 371,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 686,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000110/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000110/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c4c81e668da37cc78bd8fe0cbb8f12531eea4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000110/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.866666666666667,
+  "contact_ratio": 0.8467532467532467,
+  "avg_contact_area": 364.81595092024537,
+  "contact_entropy": 0.009342348311609676,
+  "total_frames": 385,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 110,
+  "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/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000158/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000158/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d597dc7b2fd66e2f59b35f9e3be89f2eb47e6a17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000158/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.7292576419213974,
+  "avg_contact_area": 1171.2694610778442,
+  "contact_entropy": 0.016273081692758463,
+  "total_frames": 229,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 158,
+  "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/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000236/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000236/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0148bf1c1ec18de404c7cea81aacc2d9e85a32bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000236/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.533333333333335,
+  "contact_ratio": 0.8114942528735632,
+  "avg_contact_area": 491.04532577903683,
+  "contact_entropy": 0.01680453076205911,
+  "total_frames": 870,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 236,
+  "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/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000240/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000240/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..74103aeaa9e96f5c15ae4e2ed30e3b10ca10f394
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000240/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 38.733333333333334,
+  "contact_ratio": 0.9288569144684252,
+  "avg_contact_area": 1138.1101549053355,
+  "contact_entropy": 0.24785522313456654,
+  "total_frames": 1251,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 240,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000245/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000245/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1beb8fc0f09387d9fee87932e9aee548d04f10e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000245/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 40.93333333333333,
+  "contact_ratio": 0.9777070063694268,
+  "avg_contact_area": 2928.2035830618893,
+  "contact_entropy": 0.35023190600606824,
+  "total_frames": 1256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 245,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000223/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000223/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56ed19d9464298d9f6fffd57333e8821c3796fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000223/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.866666666666667,
+  "contact_ratio": 0.9171122994652406,
+  "avg_contact_area": 1267.0685131195335,
+  "contact_entropy": 0.48386674647301214,
+  "total_frames": 748,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000247/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000247/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf3ec79a6008a8c3dc65b7b3cefdfb5046fb685
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000247/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.7586206896551724,
+  "avg_contact_area": 1456.5454545454545,
+  "contact_entropy": 0.060423593325199164,
+  "total_frames": 145,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 247,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000273/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000273/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eee975f851e29fea71d8614a68273fcad0799ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000273/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7361702127659574,
+  "avg_contact_area": 519.9017341040462,
+  "contact_entropy": 0.0014225101144418894,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 273,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000350/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000350/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..331062ce2108385ba8dcd02059661b366ad7ee94
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000350/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.7937062937062938,
+  "avg_contact_area": 1068.9911894273127,
+  "contact_entropy": 0.006764237563135826,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 350,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000572/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000572/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42db132892a8fb6433a1ef36219abdef0625b70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000572/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.7747747747747747,
+  "avg_contact_area": 1123.8313953488373,
+  "contact_entropy": 0.0058483342435092745,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 572,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000647/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000647/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7bc203bb0de78538a957d98f5a2bf67caf4748
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000647/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.433333333333334,
+  "contact_ratio": 0.8402061855670103,
+  "avg_contact_area": 1907.0920245398772,
+  "contact_entropy": 0.046364040017076294,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 647,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000727/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000727/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e510625bb6a2a6f9e826ef96c0f90004cab8ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000727/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.6686626746506986,
+  "avg_contact_area": 2094.4985074626866,
+  "contact_entropy": 0.06251234963174075,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 727,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000737/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000737/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c9b4505fb790c8e76dd0403ea5094e4dfa407a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000737/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.6816608996539792,
+  "avg_contact_area": 758.5634517766498,
+  "contact_entropy": 0.007328868548966847,
+  "total_frames": 578,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 737,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000743/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000743/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e230c95ee901846fa03028fc437bfe8f3f2359f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000743/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.466666666666667,
+  "contact_ratio": 0.7435387673956262,
+  "avg_contact_area": 1089.9946524064171,
+  "contact_entropy": 0.08983735265957518,
+  "total_frames": 503,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 743,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000155/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000155/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c314dadff76dc2a277addaba21673c3ee4dcb9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000155/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 28.133333333333333,
+  "contact_ratio": 0.9569160997732427,
+  "avg_contact_area": 503.7405213270142,
+  "contact_entropy": 0.053220696995067804,
+  "total_frames": 882,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000199/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000199/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec797ec74dad67d13e2f822bcd1d93eae794fa47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000199/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.733333333333333,
+  "contact_ratio": 0.8341968911917098,
+  "avg_contact_area": 218.33229813664596,
+  "contact_entropy": 0.012945198859747823,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 199,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000202/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000202/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af87585ef5751dd59bda0a8429ac7d0dfa6e1384
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000202/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.6894273127753304,
+  "avg_contact_area": 1357.7731629392972,
+  "contact_entropy": 0.08894571522975403,
+  "total_frames": 454,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 202,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000270/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000270/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ee2afe055341d96860949eb0b08ac1d9fd070b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000270/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.933333333333334,
+  "contact_ratio": 0.8763102725366876,
+  "avg_contact_area": 2341.0885167464116,
+  "contact_entropy": 0.16734612196424126,
+  "total_frames": 477,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 270,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000290/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000290/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97f0d3df4b6bf74bb7841a7014d33913fe98df7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000290/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 37.166666666666664,
+  "contact_ratio": 0.9072416598860863,
+  "avg_contact_area": 1202.7784753363228,
+  "contact_entropy": 0.4072200610577455,
+  "total_frames": 1229,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 290,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000107/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000107/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..148fbe34fa2eec724f58ab366c87431cac2833e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000107/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.7945205479452054,
+  "avg_contact_area": 6575.1551724137935,
+  "contact_entropy": 0.12552615002858017,
+  "total_frames": 146,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 107,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000172/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000172/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6eb4cd8fe3bf0178ba3a0c367966200c8a2ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000172/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.6374269005847953,
+  "avg_contact_area": 2796.0550458715597,
+  "contact_entropy": 0.03460812678464173,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 172,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000215/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000215/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..290559b18b20a02127071cff08908671f91dbde0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000215/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.466666666666667,
+  "contact_ratio": 0.6265060240963856,
+  "avg_contact_area": 1873.2307692307693,
+  "contact_entropy": 0.003532493929053969,
+  "total_frames": 166,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 215,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000333/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000333/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9b9dca36fbb761c79e43e7eb996248db98f0aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000333/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.633333333333333,
+  "contact_ratio": 0.9219653179190751,
+  "avg_contact_area": 7233.9655172413795,
+  "contact_entropy": 0.44369447041311727,
+  "total_frames": 346,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 333,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000507/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000507/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..323d8258c81037e640cafd98ae56e6859bcab118
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000507/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.8770949720670391,
+  "avg_contact_area": 2912.1528662420383,
+  "contact_entropy": 0.001631759098250173,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 507,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000289/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000289/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d4ab043d98cdf1b03e0fb302aa28d3c7616d90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000289/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.066666666666666,
+  "contact_ratio": 0.6642201834862386,
+  "avg_contact_area": 5891.3729281767955,
+  "contact_entropy": 0.43139524813148505,
+  "total_frames": 545,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 289,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000302/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000302/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a344c6dcf8e6f85aa21b20ee1dc2ca55b080e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000302/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7333333333333334,
+  "contact_ratio": 0.40875912408759124,
+  "avg_contact_area": 329.29464285714283,
+  "contact_entropy": 0.2881722168437318,
+  "total_frames": 274,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 302,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000437/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000437/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d70c83243c68131e3898c984cf57c7fb762708
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000437/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.5333333333333334,
+  "contact_ratio": 0.22885572139303484,
+  "avg_contact_area": 2715.4565217391305,
+  "contact_entropy": 0.4553829277734789,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 437,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000597/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000597/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a18d6d3c85c2dbe6e0e999a4b5e6068a4e33414
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000597/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.033333333333335,
+  "contact_ratio": 0.6344444444444445,
+  "avg_contact_area": 10056.474605954465,
+  "contact_entropy": 0.45043041686013524,
+  "total_frames": 900,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 597,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000608/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000608/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b190e297852dc88139dfd33de050e32ab8f6b854
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000608/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.37605804111245467,
+  "avg_contact_area": 1133.3890675241157,
+  "contact_entropy": 0.020118521185368818,
+  "total_frames": 827,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 608,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000622/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000622/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c16b1a89188b2848ee3d7b25505c9490581d0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000622/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.533333333333333,
+  "contact_ratio": 0.4373119358074223,
+  "avg_contact_area": 3479.8325688073396,
+  "contact_entropy": 0.22660378270435577,
+  "total_frames": 997,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 622,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000677/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000677/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01382278ab77561c9b90915f959109ecd74e8b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000677/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 0.36205016357688113,
+  "avg_contact_area": 5343.388554216867,
+  "contact_entropy": 0.030716021148399265,
+  "total_frames": 917,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 677,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000201/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000201/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..492794b244d2e62985457cd47b9612025cb3d56b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000201/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.6457142857142857,
+  "avg_contact_area": 825.1504424778761,
+  "contact_entropy": 0.028308111589134377,
+  "total_frames": 175,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000251/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000251/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f2b291bf3df282a9fe3c17728148f94f9d8bd2d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000251/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.666666666666666,
+  "contact_ratio": 0.7335907335907336,
+  "avg_contact_area": 1085.4947368421053,
+  "contact_entropy": 0.23501025919847585,
+  "total_frames": 518,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 251,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000331/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000331/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..951982a944f4070e95403c3e2879eee9355ef343
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000331/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.033333333333333,
+  "contact_ratio": 0.8825831702544031,
+  "avg_contact_area": 2125.3747228381376,
+  "contact_entropy": 0.23221734811072423,
+  "total_frames": 511,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 331,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000441/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000441/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..759e5173c707a64caccc771ad2377154f9a15131
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000441/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.866666666666667,
+  "contact_ratio": 0.8424778761061947,
+  "avg_contact_area": 434.27521008403363,
+  "contact_entropy": 0.06215530991712226,
+  "total_frames": 565,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000458/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000458/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..184bf567659b23320218f9cb277b22aaadc41fb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000458/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.233333333333334,
+  "contact_ratio": 0.9811066126855601,
+  "avg_contact_area": 377.96011004126547,
+  "contact_entropy": 0.08642871880385375,
+  "total_frames": 741,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 458,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000538/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000538/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc13995ab61753285ca67958019599cf63eea6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000538/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.533333333333333,
+  "contact_ratio": 0.8306595365418895,
+  "avg_contact_area": 1229.4463519313306,
+  "contact_entropy": 0.37379029908931993,
+  "total_frames": 561,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000601/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000601/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24cb5467d4333be8a2d71bb49158fc05f7e5933
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000601/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.933333333333334,
+  "contact_ratio": 0.7685714285714286,
+  "avg_contact_area": 1194.8122676579926,
+  "contact_entropy": 0.36329981743029605,
+  "total_frames": 700,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 601,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f263ca447a9e20d48a08ad00b5c746a8a5339332
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.366666666666667,
+  "contact_ratio": 0.9626972740315638,
+  "avg_contact_area": 505.34277198211623,
+  "contact_entropy": 0.49327500179008366,
+  "total_frames": 697,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 638,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000472/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000472/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2792e32f35a89bd23a71d49db1dc6429573531ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000472/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.9125364431486881,
+  "avg_contact_area": 4047.3258785942494,
+  "contact_entropy": 0.37042696839975775,
+  "total_frames": 343,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000142/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..062f4da4ccc3c4158c8e4ab18dcf3132a7a759a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.8191268191268192,
+  "avg_contact_area": 443.51522842639594,
+  "contact_entropy": 0.17174835257074747,
+  "total_frames": 481,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000182/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000182/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df49067324523e705d2e606b894c788408fe29aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000182/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.933333333333334,
+  "contact_ratio": 0.7865707434052758,
+  "avg_contact_area": 1843.1341463414635,
+  "contact_entropy": 0.22912470444030728,
+  "total_frames": 417,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 182,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000302/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000302/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98c4c400d991fe21a7d0a6f5228f5a8bd0cf276
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000302/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 28.633333333333333,
+  "contact_ratio": 0.8331716779825412,
+  "avg_contact_area": 2597.2281722933644,
+  "contact_entropy": 0.6090269982593669,
+  "total_frames": 1031,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 302,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000387/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000387/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50d844ca1025e67a785dc2e53065fdb2b0880f4d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000387/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.5790297339593115,
+  "avg_contact_area": 1073.0648648648648,
+  "contact_entropy": 0.055638501657776396,
+  "total_frames": 639,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 387,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000410/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000410/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1615e77f753f6f0211d46fd663f832914813869a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000410/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.133333333333333,
+  "contact_ratio": 0.7611044417767107,
+  "avg_contact_area": 1330.6829652996846,
+  "contact_entropy": 0.12645060508225495,
+  "total_frames": 833,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000393/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000393/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad02bda49206da76b23e0d9fcfa475c856cbe45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000393/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.866666666666667,
+  "contact_ratio": 0.8739495798319328,
+  "avg_contact_area": 2543.0264423076924,
+  "contact_entropy": 0.36965541443808225,
+  "total_frames": 476,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 393,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000448/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000448/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a8e794b103c41cf716dd889789a19cecf93633a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000448/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.266666666666667,
+  "contact_ratio": 0.8392370572207084,
+  "avg_contact_area": 2297.8636363636365,
+  "contact_entropy": 0.46215373481062666,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 448,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000453/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000453/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdae6cd1e1148728b375568f1fb1c4363bcc0387
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000453/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.266666666666667,
+  "contact_ratio": 0.8392370572207084,
+  "avg_contact_area": 1761.0681818181818,
+  "contact_entropy": 0.43759084741678705,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 453,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000578/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000578/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42c2a4c6d248353a6c00ae5f0bc17badf97fb45f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000578/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.8426666666666667,
+  "avg_contact_area": 4590.2405063291135,
+  "contact_entropy": 0.43728227836704475,
+  "total_frames": 375,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000290/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000290/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c45b4a3755bc643eafdcbea9aa4b56091774852
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000290/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.8153846153846154,
+  "avg_contact_area": 895.6301886792453,
+  "contact_entropy": 0.0005922240848777165,
+  "total_frames": 325,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 290,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000477/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000477/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b10df6045788c39b10c8d847203d44a54f43426
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000477/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.066666666666666,
+  "contact_ratio": 0.8096514745308311,
+  "avg_contact_area": 403.7119205298013,
+  "contact_entropy": 0.0015220152536381006,
+  "total_frames": 373,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 477,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000540/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000540/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a8cbf3ee01f81707daaafe833b820313cdbc5a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000540/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.8404255319148937,
+  "avg_contact_area": 3368.6487341772154,
+  "contact_entropy": 0.36214609195996716,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 540,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000684/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000684/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ebda424c046d734349c7dbf2d8feb3398e99b86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000684/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.9483204134366925,
+  "avg_contact_area": 1847.5231607629428,
+  "contact_entropy": 0.10052614387633448,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 684,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000717/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000717/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e47fa5bc152d9abffea44d9cbb33a90b8ca1c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000717/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.6984615384615385,
+  "avg_contact_area": 423.66079295154185,
+  "contact_entropy": 0.00012970519113678728,
+  "total_frames": 325,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 717,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000431/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000431/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2168859d3a8b05f32623023bf49f43a35401269
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000431/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.266666666666667,
+  "contact_ratio": 0.9061662198391421,
+  "avg_contact_area": 1381.9260355029585,
+  "contact_entropy": 0.44906736663661667,
+  "total_frames": 373,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000156/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000156/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7175c1bad29c442436ad1b5ca11295dfcf055bbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000156/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.166666666666666,
+  "contact_ratio": 0.9240506329113924,
+  "avg_contact_area": 1360.9287671232876,
+  "contact_entropy": 0.13488090792263174,
+  "total_frames": 395,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 156,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000416/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000416/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52539aac1135c01d3127ab54763525b96d2f7a95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000416/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.666666666666666,
+  "contact_ratio": 0.9361702127659575,
+  "avg_contact_area": 1505.0363636363636,
+  "contact_entropy": 0.04168682037618357,
+  "total_frames": 470,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 416,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000320/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000320/gripper_right_tactile_contact_metrics.json
new file mode 100644
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
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+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
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+}
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diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000137/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000137/gripper_right_tactile_contact_metrics.json
new file mode 100644
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+  "sensor": "gripper_right_tactile"
+}
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\ No newline at end of file
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new file mode 100644
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+{
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+        "original_name": "episode_20260313_0001",
+        "device_id": "DAG911262R002941",
+        "collector": "default_user",
+        "device_side": "Right",
+        "calibration": {
+            "calibration_info": {
+                "calibration_date": "2025-01-09",
+                "calibration_status": "uncalibrated"
+            }
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\ No newline at end of file
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+        "right_device_id": "DAG911262R00197E",
+        "left_collector": "default_user",
+        "right_collector": "default_user",
+        "calibration": {
+            "left_calibration_info": {
+                "calibration_date": "2026-03-18",
+                "calibration_status": "calibrated"
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+            "right_calibration_info": {
+                "calibration_date": "2025-01-09",
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+        "exist_pose": true
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\ No newline at end of file
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+        "original_name": "episode_20250627_0037",
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+}
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