diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000286/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000286/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b56ca12f293d2c9b45b5e9bd4db1ee56c96ec50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000286/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008477485738694668,
+  "shear_peak": 0.0043995012529194355,
+  "force_magnitude_peak": 0.00946696475148201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 286,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..abab8147b8c91edefea55408e3bbc766c7e916a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.966666666666667,
+  "contact_ratio": 0.7769516728624535,
+  "avg_contact_area": 1688.2583732057417,
+  "contact_entropy": 1.0177215746627992,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 291,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6498f49ba1f520753ac9629ee3a21fd15ad4fb44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000291/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005338095128536224,
+  "shear_peak": 0.003007306018844247,
+  "force_magnitude_peak": 0.0061177522875368595,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 291,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000293/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000293/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a002fde56ffc99d67587e0aa4d6def7a32456b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000293/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004224224016070366,
+  "shear_peak": 0.0037551608402282,
+  "force_magnitude_peak": 0.004862496629357338,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 293,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000304/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000304/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9803216de3de92a109e24956fe686a7de72fe27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000304/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.833333333333332,
+  "contact_ratio": 0.9827044025157232,
+  "avg_contact_area": 4936.1232,
+  "contact_entropy": 0.7929091352770594,
+  "total_frames": 636,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 304,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000306/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000306/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..264ffff11e5bc10ebdda82d075da36afedf1312a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000306/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.266666666666667,
+  "contact_ratio": 0.8558139534883721,
+  "avg_contact_area": 3153.8614130434785,
+  "contact_entropy": 0.3896142894509826,
+  "total_frames": 430,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..19191728402f37b2e946fea8c62a1f321054ac6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.066666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 7673.800699300699,
+  "contact_entropy": 0.5023716324930303,
+  "total_frames": 572,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 311,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..518d0147d03c6d64fbd05722f93c28d777086eab
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000311/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010271520353853703,
+  "shear_peak": 0.009715254418551922,
+  "force_magnitude_peak": 0.013676953501999378,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 311,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000316/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000316/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd2835c7ba07ab5118dd77e0ea591ff7fbda719
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000316/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.666666666666666,
+  "contact_ratio": 0.8742004264392325,
+  "avg_contact_area": 4209.607317073171,
+  "contact_entropy": 0.6958149496985113,
+  "total_frames": 469,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 316,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000322/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad4c3bea42577421fd2a03872c585fabdae4ae99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003474157303571701,
+  "shear_peak": 0.005351247265934944,
+  "force_magnitude_peak": 0.005749387200921774,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a04d0ae4deb7781d922d897f5ba187836ddff5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006665605120360851,
+  "shear_peak": 0.008943537250161171,
+  "force_magnitude_peak": 0.011143656447529793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 326,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000329/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000329/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8af8cfad6d105ea35d460476d9518e4f23e594
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000329/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.0,
+  "contact_ratio": 0.9333333333333333,
+  "avg_contact_area": 3696.207142857143,
+  "contact_entropy": 0.9766250542290035,
+  "total_frames": 450,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 329,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddee7cab1f636b675378fcd5a23163c0125b44e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006384083069860935,
+  "shear_peak": 0.007918168790638447,
+  "force_magnitude_peak": 0.00960468128323555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 331,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ffb700298dd11625efd9f29278cad3db7d6f65
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.133333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6991.768482490273,
+  "contact_entropy": 0.6237387825878534,
+  "total_frames": 514,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 331,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b87b60e7f5d5794bba913291aee01d9d813d99b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000331/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016050605103373528,
+  "shear_peak": 0.006539074704051018,
+  "force_magnitude_peak": 0.017305325716733932,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 331,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2db60a96c2d806cbf5e7fea160a4d0e002b1f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01979232393205166,
+  "shear_peak": 0.011411630548536777,
+  "force_magnitude_peak": 0.02277314104139805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 333,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000334/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000334/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b799f42d610211531e2aaf92420d3538d18d19e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000334/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009401037357747555,
+  "shear_peak": 0.003898200113326311,
+  "force_magnitude_peak": 0.00970049761235714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 334,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000337/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000337/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b703e792267f97f34136bb506ee9364d357de398
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000337/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.1,
+  "contact_ratio": 0.9443478260869566,
+  "avg_contact_area": 2664.2283609576425,
+  "contact_entropy": 0.856949133776812,
+  "total_frames": 575,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 337,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000340/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000340/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90495d1d0a3edb448678106a9630f0447f70faa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000340/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013830296695232391,
+  "shear_peak": 0.013751212507486343,
+  "force_magnitude_peak": 0.019469689577817917,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 340,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6686ac0646646e645498d866f9375c696a49753
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.4,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3258.103260869565,
+  "contact_entropy": 0.8806386282312864,
+  "total_frames": 552,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 343,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..579331a6dba4e2e3921176e074a961e00e549323
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.966666666666665,
+  "contact_ratio": 0.8117469879518072,
+  "avg_contact_area": 566.5491651205937,
+  "contact_entropy": 0.08609145853120882,
+  "total_frames": 664,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 344,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000346/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000346/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52fa488945f120cb2186b4fc335e8a398d480115
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000346/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.166666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4782.771428571428,
+  "contact_entropy": 0.6389075828647878,
+  "total_frames": 455,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 346,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92854e0d6963f3521b063930c054a3cc67c21d43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.924433249370277,
+  "avg_contact_area": 774.7901907356949,
+  "contact_entropy": 0.03987866399568576,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 351,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b30198b07b1a63439c91ccab8994fbfdadaa9b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.8438287153652393,
+  "avg_contact_area": 10518.149253731342,
+  "contact_entropy": 0.3885977231038423,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 351,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea48005408b9d60cb427a495e0ce4fad831f845
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000351/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012293346226215363,
+  "shear_peak": 0.01354036945849657,
+  "force_magnitude_peak": 0.01740952953696251,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 351,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000353/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000353/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e050c33da3f64327b0ba061c630ddd4ccb549f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000353/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.866666666666667,
+  "contact_ratio": 0.8578313253012049,
+  "avg_contact_area": 2400.0196629213483,
+  "contact_entropy": 0.7649300126824535,
+  "total_frames": 415,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 353,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000356/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000356/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b22d46307f8664dda52b6652afa11510bad774
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000356/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.8405405405405405,
+  "avg_contact_area": 3049.610932475884,
+  "contact_entropy": 0.9229124846012664,
+  "total_frames": 370,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 356,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3fcf4e386725714974e3d817e0e444352b54daa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011329459957778454,
+  "shear_peak": 0.00331366085447371,
+  "force_magnitude_peak": 0.011766642332077026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 360,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000362/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb8f9cdbc618d2a8ceb7e4bd5d0e33babffe0cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009991941973567009,
+  "shear_peak": 0.01080003660172224,
+  "force_magnitude_peak": 0.012166738510131836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000363/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000363/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb725c12716ca076732416c45e336547697a6476
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000363/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007298055104911327,
+  "shear_peak": 0.0038760092575103045,
+  "force_magnitude_peak": 0.007371395826339722,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 363,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ca1c8753f86c8d2d5b00028cd27ce45818b360
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007507816888391972,
+  "shear_peak": 0.0051394798792898655,
+  "force_magnitude_peak": 0.008723966777324677,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 366,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000369/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000369/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9888c14b39e21e46e9b7faf7945803c5ce5b693b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000369/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.8125,
+  "avg_contact_area": 6086.988461538462,
+  "contact_entropy": 0.8447279545557619,
+  "total_frames": 320,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 369,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ac1b8c5973b2f3c5fa9b577627a55ce07c69b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012845385819673538,
+  "shear_peak": 0.007315576542168856,
+  "force_magnitude_peak": 0.013454392552375793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 371,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e4c162c1daa40574c6add56f432c3f0c2901773
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.9147058823529411,
+  "avg_contact_area": 2668.3569131832796,
+  "contact_entropy": 0.2518149792912655,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 371,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a76921fb76170a6787e0f9e47c57f739c269cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000371/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004072932351846248,
+  "shear_peak": 0.0032008846756070852,
+  "force_magnitude_peak": 0.0035072106402367353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 371,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c34df42dae1bd41ab47ea59edbe4b00df5d61d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002258910099044442,
+  "shear_peak": 0.008346949703991413,
+  "force_magnitude_peak": 0.008398918434977531,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 373,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000374/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000374/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..343c7a31defcafa3f0b3c11bb3f28cd89c69557e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000374/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008096161298453808,
+  "shear_peak": 0.010095508769154549,
+  "force_magnitude_peak": 0.012751498259603977,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 374,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000377/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000377/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f20402a8b3412af40240c364258e4abe96c07fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000377/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.766666666666667,
+  "contact_ratio": 0.9301587301587302,
+  "avg_contact_area": 3728.4880546075087,
+  "contact_entropy": 0.5641146630472221,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 377,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000380/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000380/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40617f2928cdf821739fb44c1a4fcf3801d121fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000380/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009352738969027996,
+  "shear_peak": 0.007895703427493572,
+  "force_magnitude_peak": 0.012083410285413265,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 380,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ac6c1c436c800f408b53369cb71490892a0be7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4642.770392749245,
+  "contact_entropy": 0.8889975610986476,
+  "total_frames": 331,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 383,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5266bc6bee697a5001179700bddd94e46b887a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.1,
+  "contact_ratio": 0.9182242990654206,
+  "avg_contact_area": 3162.7379134860053,
+  "contact_entropy": 0.6593852277751009,
+  "total_frames": 428,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 384,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000386/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000386/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b1c937d4d42fdff057747eb09691af8e052503
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000386/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.7,
+  "contact_ratio": 0.9069767441860465,
+  "avg_contact_area": 11467.723646723647,
+  "contact_entropy": 0.7867698447465608,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 386,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c36391f43a7cd73c029747f64f15dc23f3159a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.3,
+  "contact_ratio": 0.8803418803418803,
+  "avg_contact_area": 3554.355987055016,
+  "contact_entropy": 0.650926200677137,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 391,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d1369fa3a23a7db24c4ee92d303d8017bf16fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.8290598290598291,
+  "avg_contact_area": 4583.484536082474,
+  "contact_entropy": 0.30396359898617437,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 391,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43391e06b727d7118ba85caafbfc914caf580055
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000391/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003348377300426364,
+  "shear_peak": 0.0037566900718957186,
+  "force_magnitude_peak": 0.004412435926496983,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 391,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000393/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000393/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..367d6375e2711e3c69b2dc23dc5df117429dad00
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000393/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.8,
+  "contact_ratio": 0.8571428571428571,
+  "avg_contact_area": 3409.675141242938,
+  "contact_entropy": 0.443207392687987,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 393,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000396/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000396/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda6ea73c2f023a9f77480d0526a77650bb79687
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000396/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.066666666666666,
+  "contact_ratio": 0.7763496143958869,
+  "avg_contact_area": 4058.0066225165565,
+  "contact_entropy": 0.47252230992034244,
+  "total_frames": 389,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 396,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc1dadac9d435f991d8c62d588f13a3c816f5a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014416094869375229,
+  "shear_peak": 0.0026183766312897205,
+  "force_magnitude_peak": 0.014441234059631824,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 400,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000402/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb813330443402cff34539dcb7c98f458574e8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011894991621375084,
+  "shear_peak": 0.015452452935278416,
+  "force_magnitude_peak": 0.019439732655882835,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000403/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000403/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8daeee26bf223cce10af1f63beef87d9c0b72731
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000403/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006669064052402973,
+  "shear_peak": 0.005026300437748432,
+  "force_magnitude_peak": 0.006827050819993019,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 403,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68239aa56b93ab2bb1a2d00db70ae9bbea1abf59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011205238290131092,
+  "shear_peak": 0.00945469830185175,
+  "force_magnitude_peak": 0.012128462083637714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 406,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000409/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000409/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e713906394365cabe486adb4fd6200be124e9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000409/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.266666666666667,
+  "contact_ratio": 0.8324324324324325,
+  "avg_contact_area": 5649.99025974026,
+  "contact_entropy": 0.6660255689821414,
+  "total_frames": 370,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 409,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9005d1fd70c230719bf14d98c6c04af0ae4c1113
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00712952995672822,
+  "shear_peak": 0.004240803886204958,
+  "force_magnitude_peak": 0.008177563548088074,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 411,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19daa4f50e4fc0d567846858ba2793e9e0afd16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.8227146814404432,
+  "avg_contact_area": 8730.750841750842,
+  "contact_entropy": 0.5410645238022811,
+  "total_frames": 361,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 411,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a82cd46b49b470e2d2feaba6d529699385c3c9f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008152041584253311,
+  "shear_peak": 0.010094856843352318,
+  "force_magnitude_peak": 0.012626864947378635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 411,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..874fcf9f5e374eeac259ee0eb3292e5dca45086e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00894450768828392,
+  "shear_peak": 0.007050589192658663,
+  "force_magnitude_peak": 0.009558211080729961,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 413,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000414/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000414/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d946441859237c4771f16d57c0fa978b85dc3e61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000414/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009513311088085175,
+  "shear_peak": 0.0038066937122493982,
+  "force_magnitude_peak": 0.009523101150989532,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 414,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000417/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000417/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf970a041a11785c20f6a31565b96f2da3e345b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000417/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.2,
+  "contact_ratio": 0.8531468531468531,
+  "avg_contact_area": 1765.8169398907103,
+  "contact_entropy": 0.1805414557038968,
+  "total_frames": 429,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 417,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000420/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000420/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54c7a84563e435a32f31c354cc8b770f32b66185
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000420/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007638412062078714,
+  "shear_peak": 0.0025889237876981497,
+  "force_magnitude_peak": 0.007777824066579342,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 420,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eee7306939c721a1287162fd085a60ff5a80b12
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.366666666666667,
+  "contact_ratio": 0.8793859649122807,
+  "avg_contact_area": 5558.346633416459,
+  "contact_entropy": 0.6450622113687176,
+  "total_frames": 456,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0341034150f362a9becfe4cae93d2a0957edc5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.333333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3194.7903225806454,
+  "contact_entropy": 0.7483326802187673,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 424,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000426/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000426/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00cf00a329444d835503e8987af7cf4eba8a00fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000426/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.8911917098445595,
+  "avg_contact_area": 4238.665697674419,
+  "contact_entropy": 0.749224338232471,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 426,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3968d33499d060c90d5390165b59abd4702849
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.870253164556962,
+  "avg_contact_area": 2886.309090909091,
+  "contact_entropy": 0.7816403502053172,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 431,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bcfeb43a9e6eccb7963df2bc276f09bfa51ad47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.8512658227848101,
+  "avg_contact_area": 3251.2862453531598,
+  "contact_entropy": 0.2215415315945558,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b91272d80980fc18afaaed0ec57864db92431731
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000431/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0044058747589588165,
+  "shear_peak": 0.004087545908987522,
+  "force_magnitude_peak": 0.004847320728003979,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000433/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000433/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf6d1da78c0679286e7f9f573109144c5462354
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000433/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.066666666666666,
+  "contact_ratio": 0.8085867620751341,
+  "avg_contact_area": 2017.2721238938052,
+  "contact_entropy": 0.6892777495725085,
+  "total_frames": 559,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 433,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000436/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000436/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43131beb7c66aa77b1482d9c399043f660ad1160
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000436/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 0.8309859154929577,
+  "avg_contact_area": 7869.776271186441,
+  "contact_entropy": 0.5258829372869832,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 436,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64100c3813c3500d0e04f289c611a5edd0a9f40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00739718833938241,
+  "shear_peak": 0.0075531513430178165,
+  "force_magnitude_peak": 0.010550222359597683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 440,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000442/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5108e1ca12afc041c81f712653646e77c2973a59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010803641052916646,
+  "shear_peak": 0.0051311771385371685,
+  "force_magnitude_peak": 0.005231160670518875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000443/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000443/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00fd07939ccfcde28a5b57a80c0cdef3b39e5e52
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000443/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019285029266029596,
+  "shear_peak": 0.005417637526988983,
+  "force_magnitude_peak": 0.005526173394173384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 443,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e8ca2601a80fd9072ac17e6b92ba18c5c5eff6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007703857263550162,
+  "shear_peak": 0.001225571264512837,
+  "force_magnitude_peak": 0.001758021884597838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 446,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000449/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000449/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..182ea9205dc0e45f0d996e8c344f895c77760a22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000449/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.633333333333333,
+  "contact_ratio": 0.7766393442622951,
+  "avg_contact_area": 1177.0765171503958,
+  "contact_entropy": 0.40827369395457996,
+  "total_frames": 488,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 449,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dd2844956deec5f20ff30d136c79033f8e2ed24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005606729071587324,
+  "shear_peak": 0.0016332510858774185,
+  "force_magnitude_peak": 0.005627506412565708,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 451,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28399e4b3da51de72cbbf604947ee006474cf90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.5,
+  "contact_ratio": 0.8081896551724138,
+  "avg_contact_area": 1450.7493333333334,
+  "contact_entropy": 0.18559133817494233,
+  "total_frames": 464,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 451,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d03b3f6e4dc49120e3805855871d657ab74b7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000451/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007076321169734001,
+  "shear_peak": 0.002963280538097024,
+  "force_magnitude_peak": 0.00714540109038353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 451,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..856770e7a47648aa04634184f4931f31cbccad5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018386852461844683,
+  "shear_peak": 0.0027172896079719067,
+  "force_magnitude_peak": 0.0028116335161030293,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 453,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000454/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000454/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b3b72e5b01fc000ccf13a185e778a4c9b9010a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000454/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001993086189031601,
+  "shear_peak": 0.00181792420335114,
+  "force_magnitude_peak": 0.002318876562640071,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 454,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000457/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000457/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc2b7a5f33afa25e17783444eeda16b11f523f45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000457/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.833333333333334,
+  "contact_ratio": 0.7349896480331263,
+  "avg_contact_area": 295.8929577464789,
+  "contact_entropy": 0.01823604212426343,
+  "total_frames": 483,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 457,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000460/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000460/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f254b0fd97b5e99f5467c29a8f8dfc7272b7c75
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000460/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004819806199520826,
+  "shear_peak": 0.0019372196402400732,
+  "force_magnitude_peak": 0.004836145788431168,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 460,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..343f7dda2e9736afaeb1b2bc75b631f5fbdab908
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.8290598290598291,
+  "avg_contact_area": 435.6769759450172,
+  "contact_entropy": 0.012713974920843233,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6d8dc2815231fe48b96d5f3e78dee610db4aaf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.233333333333333,
+  "contact_ratio": 0.7871794871794872,
+  "avg_contact_area": 224.19543973941367,
+  "contact_entropy": 0.0003326031326844019,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 464,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000466/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000466/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e16e19358281c0a750133e1cea3b4dea96a4d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000466/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.866666666666667,
+  "contact_ratio": 0.7912621359223301,
+  "avg_contact_area": 217.58895705521473,
+  "contact_entropy": 0.01530961134290297,
+  "total_frames": 412,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 466,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c0a4ced0169f67054b39b3754e868af365d1b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.8020477815699659,
+  "avg_contact_area": 681.8340425531915,
+  "contact_entropy": 0.0,
+  "total_frames": 293,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 471,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4d6357bf2ec4dfab8554dbbfe79008558968
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.6006825938566553,
+  "avg_contact_area": 358.9318181818182,
+  "contact_entropy": 0.0,
+  "total_frames": 293,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01dea120f310d6b31002eb19fb372e1a0908373a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000471/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008509363397024572,
+  "shear_peak": 0.0011694302083924413,
+  "force_magnitude_peak": 0.002856146078556776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000473/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000473/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b266c39bb633feaf1702305bacb7bb389b9bed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000473/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.8173913043478261,
+  "avg_contact_area": 1188.0709219858156,
+  "contact_entropy": 0.06711926930914668,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 473,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000476/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000476/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..268fed0700953af518dff1c707a4525972a43d2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000476/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.801980198019802,
+  "avg_contact_area": 768.358024691358,
+  "contact_entropy": 0.12326589582187589,
+  "total_frames": 303,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 476,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ee97f5bc1f1fa77ef09dac727af1f26497aa25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009582564816810191,
+  "shear_peak": 0.0029465039260685444,
+  "force_magnitude_peak": 0.0034894729033112526,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 480,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000482/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000482/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de417e70fe71eb69f077569803e852025c68fa4a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000482/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006639991770498455,
+  "shear_peak": 0.0026775943115353584,
+  "force_magnitude_peak": 0.002770162420347333,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 482,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000483/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000483/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86834be48d70bfa458c647de92fbd166076ad0c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000483/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0053068664856255054,
+  "shear_peak": 0.0030507666524499655,
+  "force_magnitude_peak": 0.0054633826948702335,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 483,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..549f5cc2955c37ad2e0c09aecd702f4f016df0f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009470938239246607,
+  "shear_peak": 0.001405714196152985,
+  "force_magnitude_peak": 0.00203518383204937,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 486,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000489/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000489/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2a7e5dccadfaa4f80009bbdc73c1b9e5fcdbfb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000489/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.333333333333334,
+  "contact_ratio": 0.8012820512820513,
+  "avg_contact_area": 1135.064,
+  "contact_entropy": 0.1487358959603518,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 489,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e453b919e1a9ebfa1c124e54d7ccf6a35b677ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002071928698569536,
+  "shear_peak": 0.0019156539347022772,
+  "force_magnitude_peak": 0.002115716226398945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 491,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3796e1d7c1feb2fb7629b82aafe15ce539b1b93
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.033333333333333,
+  "contact_ratio": 0.7850162866449512,
+  "avg_contact_area": 289.8298755186722,
+  "contact_entropy": 0.0,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 491,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58abec086caaf4b2824db1230c5072dca473e7da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000491/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009615930612199008,
+  "shear_peak": 0.000841195578686893,
+  "force_magnitude_peak": 0.0017924619605764747,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 491,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1744ebc4dc5c7e1d4f42ed283124aab51d977579
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005122500006109476,
+  "shear_peak": 0.0025690398178994656,
+  "force_magnitude_peak": 0.0032178708352148533,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 493,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000494/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000494/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fbca6d05cffdadf0b982fa8820413255dbdf3d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000494/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034495091531425714,
+  "shear_peak": 0.0028685596771538258,
+  "force_magnitude_peak": 0.003613455453887582,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 494,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000497/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000497/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95fb56a9db086cc0a43ebe4ff2c2ead3bb66253
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000497/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.433333333333334,
+  "contact_ratio": 0.790625,
+  "avg_contact_area": 369.6679841897233,
+  "contact_entropy": 0.033968341322006296,
+  "total_frames": 320,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 497,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000500/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000500/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..595f16232f5a02204c48715ddcb4646c186c6776
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000500/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005175236612558365,
+  "shear_peak": 0.0031737263780087233,
+  "force_magnitude_peak": 0.005221584811806679,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 500,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9271eec81d23f81b35e2f8a0d7e21b69fd4d2fb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.6,
+  "contact_ratio": 0.8552036199095022,
+  "avg_contact_area": 1059.8862433862435,
+  "contact_entropy": 0.15862676709478593,
+  "total_frames": 442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1148d2c499e90ab0a808b653feed55cc6cb1a89f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.6,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 16528.764367816093,
+  "contact_entropy": 1.3774672993118622,
+  "total_frames": 348,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 504,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000506/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000506/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a0e96cfe4bbd249c5415a03bf281e1bc0b83284
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000506/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.8546712802768166,
+  "avg_contact_area": 6152.514170040486,
+  "contact_entropy": 0.9059968306496671,
+  "total_frames": 289,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 506,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba65f90547974e961b7d945dbf846d14845ca77c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.766666666666667,
+  "contact_ratio": 0.8253521126760563,
+  "avg_contact_area": 3680.0307167235496,
+  "contact_entropy": 0.4030337824884442,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 511,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff1d0273bde669e5d7d0452580f88b897c3e034
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.8338028169014085,
+  "avg_contact_area": 3517.570945945946,
+  "contact_entropy": 0.3858952160723521,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 511,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c2a0c033b9514cc44871587fa2c7ed7892ee67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000511/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008821258321404457,
+  "shear_peak": 0.010776759125292301,
+  "force_magnitude_peak": 0.013926706276834011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 511,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000513/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000513/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b6d26277c6eb01229bcda1c4fa5ff5b4ce277e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000513/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.633333333333333,
+  "contact_ratio": 0.8372703412073491,
+  "avg_contact_area": 1754.4012539184953,
+  "contact_entropy": 0.28271436728780214,
+  "total_frames": 381,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 513,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000516/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000516/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9144c7d6b4fad9b3ac202802e7c9a1d0c088aeed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000516/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 10964.176848874598,
+  "contact_entropy": 0.9734295862417389,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 516,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b05f9a26d972f285a052f787eab0849686465e9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031823471654206514,
+  "shear_peak": 0.005162801127880812,
+  "force_magnitude_peak": 0.00522224185988307,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 520,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000522/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000522/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c862b97c2d0a5bcd371d2017245bbe62d41ebb06
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000522/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011787095107138157,
+  "shear_peak": 0.008349081501364708,
+  "force_magnitude_peak": 0.014245456084609032,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 522,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000523/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000523/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a06d2bc6f88f89d3315260b6a859908f682d328
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000523/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004394087009131908,
+  "shear_peak": 0.002934671938419342,
+  "force_magnitude_peak": 0.005089547485113144,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 523,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a2a8f2382385fcb11b1c1fa7e500cc8233881a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013679134659469128,
+  "shear_peak": 0.01135539636015892,
+  "force_magnitude_peak": 0.01777818240225315,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 526,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000529/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000529/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f56ea83ccd38ad59a1c1f1c14f36ea197bb19487
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000529/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.033333333333333,
+  "contact_ratio": 0.7487562189054726,
+  "avg_contact_area": 1922.4916943521594,
+  "contact_entropy": 0.6296087504098732,
+  "total_frames": 402,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 529,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7dc866485f1cfdae02800a6f0b52ebd5150fe1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037445679772645235,
+  "shear_peak": 0.0035217409022152424,
+  "force_magnitude_peak": 0.004410457797348499,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 531,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f055d6bdf88bf0e9f4e0a71e303ab2acfcc9b3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.6482758620689655,
+  "avg_contact_area": 193.83510638297872,
+  "contact_entropy": 0.5406175491085827,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a93f093fedda092c27d1a48644b335bee9210c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000531/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013859140453860164,
+  "shear_peak": 0.0027236859314143658,
+  "force_magnitude_peak": 0.003113639075309038,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43c96bb9470e73c692001004890b38df31e2f08c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006753692403435707,
+  "shear_peak": 0.0030371309258043766,
+  "force_magnitude_peak": 0.007168110925704241,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 533,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000534/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000534/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..451d7025c3552030540ea8ecbbb36826adbee05d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000534/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006538731511682272,
+  "shear_peak": 0.0030959867872297764,
+  "force_magnitude_peak": 0.0067841894924640656,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 534,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000537/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000537/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aaa97bcacff40368f9210bac5e44f73080ead1a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000537/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.733333333333333,
+  "contact_ratio": 0.836676217765043,
+  "avg_contact_area": 1906.3253424657535,
+  "contact_entropy": 0.20753144361880116,
+  "total_frames": 349,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000540/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000540/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b60afa7fb38ff47255612926a1f9389bf4cf54d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000540/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020499504171311855,
+  "shear_peak": 0.00188042304944247,
+  "force_magnitude_peak": 0.002719565760344267,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 540,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c4492d0f23d2e2ca46c80f696816786f11c190
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.433333333333334,
+  "contact_ratio": 0.7907801418439716,
+  "avg_contact_area": 1099.7488789237668,
+  "contact_entropy": 0.3515068000414193,
+  "total_frames": 282,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 543,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..790a53d92f823ca621635d25be1c3dac6f6c70b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 0.9018181818181819,
+  "avg_contact_area": 5672.395161290323,
+  "contact_entropy": 0.6562246335325931,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 544,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000546/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000546/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..637d5afc24fa6de987ee7c14b53f538297ab26bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000546/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.8163934426229508,
+  "avg_contact_area": 10463.012048192772,
+  "contact_entropy": 0.7001073292602681,
+  "total_frames": 305,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 546,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1630678dfa5ca14da4aab0422ba1ee61fc562c3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.333333333333334,
+  "contact_ratio": 0.8521303258145363,
+  "avg_contact_area": 385.55,
+  "contact_entropy": 0.0463480367037066,
+  "total_frames": 399,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 551,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e33e511e6daeac33bc679f2a30c3fe88437897e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.466666666666667,
+  "contact_ratio": 0.6365914786967418,
+  "avg_contact_area": 595.0826771653543,
+  "contact_entropy": 0.011134937755154168,
+  "total_frames": 399,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 551,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca6c2968eec9ed885f0a9b7045f5d111edca203b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000551/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004265842027962208,
+  "shear_peak": 0.0033620684407651424,
+  "force_magnitude_peak": 0.005196650046855211,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 551,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000553/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000553/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da85a844765013a2d5850a78f657ad1e75d7d815
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000553/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.9,
+  "contact_ratio": 0.9287305122494433,
+  "avg_contact_area": 1046.292565947242,
+  "contact_entropy": 0.5726996606255084,
+  "total_frames": 449,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 553,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000556/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000556/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d051e4f5248688af8d0a2b1873abadabd77100
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000556/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.8794788273615635,
+  "avg_contact_area": 5643.844444444445,
+  "contact_entropy": 0.8698698206307776,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 556,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34eda6a5b039bfcb1468ed978c1f50b45d0d29b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007632829248905182,
+  "shear_peak": 0.009256063960492611,
+  "force_magnitude_peak": 0.011988253332674503,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 560,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000562/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000562/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e1ef84434c9a3f3b911c1e3f2e7f898214c0021
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000562/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002560401102527976,
+  "shear_peak": 0.004850795026868582,
+  "force_magnitude_peak": 0.0049671814776957035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 562,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000563/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000563/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9af0aec311975c80996d2d61d5de110a12bc15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000563/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011325523257255554,
+  "shear_peak": 0.006562643684446812,
+  "force_magnitude_peak": 0.012738626450300217,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 563,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2106a7010d812d05006d0d53ebdb59ec3afbf23d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.008415482938289642,
+  "force_magnitude_peak": 0.009022770449519157,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 566,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000569/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000569/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0ed7125d7e0eb488b528c41861e36dda33daec9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000569/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.666666666666667,
+  "contact_ratio": 0.8363636363636363,
+  "avg_contact_area": 2704.7608695652175,
+  "contact_entropy": 0.28791633817802326,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 569,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8793cd346c13201a5a64277d58d523913744f49c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007537950295954943,
+  "shear_peak": 0.002014382742345333,
+  "force_magnitude_peak": 0.007618334144353867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 571,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c16c946c58f7c969854f7f487e9dc90ee4e038
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.8509803921568627,
+  "avg_contact_area": 10334.165898617512,
+  "contact_entropy": 0.6425341424565748,
+  "total_frames": 255,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 571,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9357434156a91b237d3b11658b1888061c563113
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000571/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009405752643942833,
+  "shear_peak": 0.0029486671555787325,
+  "force_magnitude_peak": 0.009406878612935543,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 571,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5357ea625303de80acf75ed9d96c1aeb15b02abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001961156725883484,
+  "shear_peak": 0.002784139011055231,
+  "force_magnitude_peak": 0.002842532703652978,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 573,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000574/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000574/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d0f901a8415cbb08821a8e4e45f0d6fc345cf20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000574/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013720985502004623,
+  "shear_peak": 0.0071358573623001575,
+  "force_magnitude_peak": 0.014946890994906425,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 574,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000577/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000577/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25583fec58e5ca8bf5a643550fe3b4e3d96afcc3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000577/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.566666666666666,
+  "contact_ratio": 0.9084821428571429,
+  "avg_contact_area": 1277.6363636363637,
+  "contact_entropy": 0.14517038068535135,
+  "total_frames": 448,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000580/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000580/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c952f6a7205cbaf262f407fe512cafb4cb171f24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000580/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003370944643393159,
+  "shear_peak": 0.0013070543063804507,
+  "force_magnitude_peak": 0.003384938230738044,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 580,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02511f307418a9f42f948c685186d3ab6da057f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.733333333333333,
+  "contact_ratio": 0.8463768115942029,
+  "avg_contact_area": 1982.0479452054794,
+  "contact_entropy": 0.4490130968912846,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 583,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b31f9c6b93a79170f95dd791df73a7a109e6ab4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.8208092485549133,
+  "avg_contact_area": 2839.9225352112676,
+  "contact_entropy": 0.6884389537305176,
+  "total_frames": 346,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 584,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000586/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000586/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..794f6357d815341741cb12b2a8427888ae60141f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000586/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.633333333333333,
+  "contact_ratio": 0.865296803652968,
+  "avg_contact_area": 5551.693931398417,
+  "contact_entropy": 0.756987762294898,
+  "total_frames": 438,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 586,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e68601c601c255079dad4d01db87cb875dbe19bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.8102893890675241,
+  "avg_contact_area": 2313.0555555555557,
+  "contact_entropy": 0.36137668188420763,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 591,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4881bd72cf0d985c3e90048c03005f4ecebba1f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.44694533762057875,
+  "avg_contact_area": 1940.3812949640287,
+  "contact_entropy": 0.02583513628559169,
+  "total_frames": 311,
+  "fps": 30.0,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 591,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5465c53c411884c6c8fdc3b1fa0c58df9f04aa9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000591/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037769582122564316,
+  "shear_peak": 0.004345235414803028,
+  "force_magnitude_peak": 0.004805677104741335,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 591,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000593/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000593/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9fd0f8e4b03d48c9f319d843a3cdaca746eb298
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000593/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.2,
+  "contact_ratio": 0.8360655737704918,
+  "avg_contact_area": 2568.418300653595,
+  "contact_entropy": 0.4339104381698867,
+  "total_frames": 366,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 593,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000596/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000596/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc01ca040630a50772ff7dbf697974dc722689d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000596/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.8397932816537468,
+  "avg_contact_area": 7464.196923076923,
+  "contact_entropy": 0.6604664581689362,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 596,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da15a3e257f892ce3faaa600587a33e036dab1c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007311917841434479,
+  "shear_peak": 0.0060448008589446545,
+  "force_magnitude_peak": 0.007909076288342476,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 600,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000602/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000602/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..120dc427457757d9a43060237e06a875d69d5455
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000602/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01691017858684063,
+  "shear_peak": 0.005137644242495298,
+  "force_magnitude_peak": 0.017455320805311203,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 602,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000603/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000603/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9687fac79e6b2fc6a43693fed62b49b238716cbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000603/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004741013050079346,
+  "shear_peak": 0.007941744290292263,
+  "force_magnitude_peak": 0.008054021745920181,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 603,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d533454ee439a7b879a56fb57555e8c81a013bcc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005974317900836468,
+  "shear_peak": 0.004520367830991745,
+  "force_magnitude_peak": 0.007174779195338488,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 606,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000609/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000609/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a6770bc8c71a51bc0627ccc17f6729f2e8fd2d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000609/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.966666666666665,
+  "contact_ratio": 0.9203910614525139,
+  "avg_contact_area": 2472.1638846737483,
+  "contact_entropy": 0.7082460855050261,
+  "total_frames": 716,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 609,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e71b8153f4e26e7e40b196a21ac0939968d13c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01551125943660736,
+  "shear_peak": 0.011205335147678852,
+  "force_magnitude_peak": 0.01913253590464592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 611,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36174b345b38763eaf13a81522cb4a7015e9120a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.733333333333333,
+  "contact_ratio": 0.7097744360902256,
+  "avg_contact_area": 4391.786016949152,
+  "contact_entropy": 0.3815105079430468,
+  "total_frames": 665,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 611,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc921e89c128d54f6597449fce2dc1c276543af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015266303904354572,
+  "shear_peak": 0.015221943147480488,
+  "force_magnitude_peak": 0.021520443260669708,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 611,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c423a7b171e153c0f205403f4a83751485c36c95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003712498350068927,
+  "shear_peak": 0.00412260927259922,
+  "force_magnitude_peak": 0.004142137244343758,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 613,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000614/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000614/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43852e53dd4f127ce6a319f7a0ec0092467471ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000614/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00578156067058444,
+  "shear_peak": 0.004553536884486675,
+  "force_magnitude_peak": 0.005829995963722467,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 614,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000617/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000617/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b1d6ccddfd4cc97cbab3844675ec13d037ce921
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000617/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.3,
+  "contact_ratio": 0.9813559322033898,
+  "avg_contact_area": 1116.0449050086356,
+  "contact_entropy": 0.8639133248322691,
+  "total_frames": 590,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 617,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000620/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000620/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a02435541031d17625ae91ef4de36d59363197
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000620/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005851989611983299,
+  "shear_peak": 0.0028650907333940268,
+  "force_magnitude_peak": 0.006356306839734316,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 620,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6732b42bbdcfab1c397c1519d94da50327b48ff1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.066666666666666,
+  "contact_ratio": 0.8577680525164114,
+  "avg_contact_area": 2903.5408163265306,
+  "contact_entropy": 0.697479849832153,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 623,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d488a739da7607979c2e7fd271291b90bcfcb42b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.466666666666665,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6731.476027397261,
+  "contact_entropy": 0.41970702834116147,
+  "total_frames": 584,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 624,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000626/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000626/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b291a31e8f0e4b67f172bddd1a651ad433942fbc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000626/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.5452631578947369,
+  "avg_contact_area": 2895.5598455598456,
+  "contact_entropy": 0.21156061811493979,
+  "total_frames": 475,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 626,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..980b5bfa3d337359f6707e6f120995c5385ff7df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.2,
+  "contact_ratio": 0.9466666666666667,
+  "avg_contact_area": 2374.1009389671362,
+  "contact_entropy": 0.4014114942056867,
+  "total_frames": 450,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 631,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1a6e17b0d1004ae92ecdb6296264f2589aca17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.066666666666666,
+  "contact_ratio": 0.9377777777777778,
+  "avg_contact_area": 8471.9336492891,
+  "contact_entropy": 0.5964344740099068,
+  "total_frames": 450,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 631,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3f672b1282d923ac0e232f2cd7b83728fc52b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000631/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01412922516465187,
+  "shear_peak": 0.011044698767364025,
+  "force_magnitude_peak": 0.01788213849067688,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 631,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000633/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000633/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd8d6db07456969cbb2cd22cfad03f88c3bed73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000633/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.466666666666667,
+  "contact_ratio": 0.8637413394919169,
+  "avg_contact_area": 3823.836898395722,
+  "contact_entropy": 0.4845161384402304,
+  "total_frames": 433,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 633,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000636/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000636/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb114446da88466dfe3c7656b2dc9cd42894faf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000636/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.5201401050788091,
+  "avg_contact_area": 2155.734006734007,
+  "contact_entropy": 0.22696245133194226,
+  "total_frames": 571,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 636,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb047a3e6b7e8f06101a21033cd03ea21ee4d6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009045680053532124,
+  "shear_peak": 0.00466665206477046,
+  "force_magnitude_peak": 0.009985173121094704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 640,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000642/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000642/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4823b5cc9040cdccc98695ee0b96c58bb95619
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000642/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007935326546430588,
+  "shear_peak": 0.009899546392261982,
+  "force_magnitude_peak": 0.012458095327019691,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 642,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000643/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000643/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b78685a414ccea9ff851bdae3674079bd3418c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000643/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004402534570544958,
+  "shear_peak": 0.004298667423427105,
+  "force_magnitude_peak": 0.006153117399662733,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 643,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab65ab6a03a2c504fbcbc22c251f2500adc69369
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015715178102254868,
+  "shear_peak": 0.006959504447877407,
+  "force_magnitude_peak": 0.016983654350042343,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 646,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000649/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000649/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c4c6d441f60d31ef45b23ac6ad7b602e92cd22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000649/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.733333333333333,
+  "contact_ratio": 0.8371212121212122,
+  "avg_contact_area": 1827.5226244343892,
+  "contact_entropy": 0.5157308697735205,
+  "total_frames": 528,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 649,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21899258d7e1ce60e55434b450313f2f9a3efd8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01888902485370636,
+  "shear_peak": 0.008886609226465225,
+  "force_magnitude_peak": 0.020782126113772392,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 651,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25111a704494c4faa9ad7aa49b8ce1cc5e8ccac7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.6,
+  "contact_ratio": 0.9034749034749034,
+  "avg_contact_area": 4222.790598290599,
+  "contact_entropy": 0.42175942071186984,
+  "total_frames": 518,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 651,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ffa6bc50c9d5610012f47f71701b08e8882d756
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000651/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010873653925955296,
+  "shear_peak": 0.008206944912672043,
+  "force_magnitude_peak": 0.012647757306694984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 651,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf02826277d1a60d31897a065fbfc2493f07b399
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0074667492881417274,
+  "shear_peak": 0.01177950482815504,
+  "force_magnitude_peak": 0.01178495492786169,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 653,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000654/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000654/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d60722e5093bc3d2946be6fc506184075d5adc03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000654/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003732990473508835,
+  "shear_peak": 0.0025453625712543726,
+  "force_magnitude_peak": 0.003736229846253991,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 654,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000657/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000657/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28637522521e5870d80ae1bf3150da2e0812335
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000657/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.033333333333333,
+  "contact_ratio": 0.9030023094688222,
+  "avg_contact_area": 4127.785166240409,
+  "contact_entropy": 0.46282268219781203,
+  "total_frames": 433,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 657,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000660/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000660/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..728922971babea0ab9063fda5f1f22df551d78dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000660/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03174217790365219,
+  "shear_peak": 0.03341089189052582,
+  "force_magnitude_peak": 0.044942669570446014,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 660,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3200d4033bf9853a50a2f45fe26bacac92a5065
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.966666666666667,
+  "contact_ratio": 0.9033232628398792,
+  "avg_contact_area": 2747.180602006689,
+  "contact_entropy": 0.4444291575085752,
+  "total_frames": 331,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 663,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b01a5d4dde525057987f8436fa400e7e98d2da3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.1,
+  "contact_ratio": 0.9161073825503355,
+  "avg_contact_area": 12960.992673992674,
+  "contact_entropy": 0.7095903112952381,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 664,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000666/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000666/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b342404ad57834a05f6f9c3a77c208e9c75441dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000666/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.766666666666667,
+  "contact_ratio": 0.6939313984168866,
+  "avg_contact_area": 1703.4296577946768,
+  "contact_entropy": 0.29497507322347044,
+  "total_frames": 379,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 666,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc3c08ca69a33f397f28f9900f01ffb583fdd2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.9038901601830663,
+  "avg_contact_area": 2265.167088607595,
+  "contact_entropy": 0.6409524022474213,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 671,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf7e357b912fc5b70e093b478e3599759dd4b35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.6,
+  "contact_ratio": 0.8649885583524027,
+  "avg_contact_area": 4372.550264550265,
+  "contact_entropy": 0.12957110170400743,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 671,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b09d7b568d58944467cb173e71ed2d5180a3fcf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000671/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004815960768610239,
+  "shear_peak": 0.009097101166844368,
+  "force_magnitude_peak": 0.009104607626795769,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 671,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000673/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000673/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40e838f2d501e0426cf50a9cd2b0f8b7861f0e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000673/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.966666666666667,
+  "contact_ratio": 0.8305555555555556,
+  "avg_contact_area": 5835.919732441472,
+  "contact_entropy": 0.29512770827047496,
+  "total_frames": 360,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 673,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000676/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000676/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..747e4ea13344062ce4e67a68cb953baeaa2d8022
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000676/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.7203791469194313,
+  "avg_contact_area": 1904.2006578947369,
+  "contact_entropy": 0.19940010075715336,
+  "total_frames": 422,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 676,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..209f179983f0bbcb25c330f8589dc68cd67b815c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007370383013039827,
+  "shear_peak": 0.006146789528429508,
+  "force_magnitude_peak": 0.00882711075246334,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 680,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000682/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000682/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da3530fa44a06180345746df85841acf3930c94
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000682/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024457475170493126,
+  "shear_peak": 0.029103197157382965,
+  "force_magnitude_peak": 0.03799940645694733,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 682,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000683/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000683/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2001c5e30c7999a96c48f134bad521aad622e2fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000683/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006344649475067854,
+  "shear_peak": 0.0011842831736430526,
+  "force_magnitude_peak": 0.006392339244484901,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 683,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000685/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000685/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25a5aa43e66989dfa8b4c7e60855a12ad80435b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000685/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.8301282051282052,
+  "avg_contact_area": 1114.7335907335907,
+  "contact_entropy": 0.21270256139291144,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 685,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000687/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000687/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47dac1ee1ab3311c3305ca283952819b02c3b2f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000687/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.7568627450980392,
+  "avg_contact_area": 1012.0777202072538,
+  "contact_entropy": 0.3677369699059899,
+  "total_frames": 255,
+  "fps": 30.0,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 687,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..252fea07d6fb926612c57efa1bc95148ab8d7a68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.066666666666666,
+  "contact_ratio": 0.7615062761506276,
+  "avg_contact_area": 2209.802197802198,
+  "contact_entropy": 0.08488703482163278,
+  "total_frames": 239,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 690,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000693/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000693/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..870c66756ef0f3f5100fc9160f751384e7c4976d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000693/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004677571821957827,
+  "shear_peak": 0.0020186167676001787,
+  "force_magnitude_peak": 0.005062874872237444,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 693,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0577d66442fb9529cf17889af8309b14485d61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008056279039010406,
+  "shear_peak": 0.0027031826321035624,
+  "force_magnitude_peak": 0.003922739997506142,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 695,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000699/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000699/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76bd9004b1fff132248f267b6b587ecb78d86037
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000699/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.746938775510204,
+  "avg_contact_area": 1292.431693989071,
+  "contact_entropy": 0.0697978599332692,
+  "total_frames": 245,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 699,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000702/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000702/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c37f25a9729f603ae9f27cb4e81a1e6e4e68e2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000702/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004045266658067703,
+  "shear_peak": 0.002528115641325712,
+  "force_magnitude_peak": 0.004045275505632162,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 702,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000001/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000001/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d4201e1dd55dec6c5cbdbc94e952fb183784e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000001/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.6107594936708861,
+  "avg_contact_area": 14783.559585492229,
+  "contact_entropy": 0.12245350051890469,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 1,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000002/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000002/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a83bf27031640e887d23bd003f665f862360913
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000002/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003518512938171625,
+  "shear_peak": 0.002802272094413638,
+  "force_magnitude_peak": 0.003896784968674183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000006/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000006/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00436e633de0fd7772445787e0a8542e35133e9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000006/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002769520040601492,
+  "shear_peak": 0.004231342580169439,
+  "force_magnitude_peak": 0.004311400931328535,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 6,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file