diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9f65c7b716982944cfdf9bd4d39e71eebf7f32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018701773136854172,
+  "shear_peak": 0.008339841850101948,
+  "force_magnitude_peak": 0.018701935186982155,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 153,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000190/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000190/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba03c0e46e640b7c0f15d7495e1208333e36c180
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000190/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016659485176205635,
+  "shear_peak": 0.00909265037626028,
+  "force_magnitude_peak": 0.018412185832858086,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 190,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000193/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000193/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..238225bf861f6bad765fe9dc93f90477d97b0b67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000193/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03740552440285683,
+  "shear_peak": 0.01830713264644146,
+  "force_magnitude_peak": 0.04102160036563873,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 193,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39aaac9174ca11fc74d8d902a3415e5e67c79152
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.133333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 9878.974264705883,
+  "contact_entropy": 0.4511065229372494,
+  "total_frames": 544,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 198,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e608d187568a6a9a9a0c93baa967c94557a432
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01669863983988762,
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+  "force_magnitude_peak": 0.016823526471853256,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 199,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000201/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000201/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd4dc2b325e5212b17106c97ad9220566852e7ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000201/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.6046931407942239,
+  "avg_contact_area": 1508.1820895522387,
+  "contact_entropy": 0.10612022143897916,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000202/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000202/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96bb13d1d2ed79c0b63850333f2d15c4da56ad17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000202/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016239337623119354,
+  "shear_peak": 0.011803500354290009,
+  "force_magnitude_peak": 0.01982254348695278,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 202,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000203/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000203/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60b0f0ef0e5fe10eed35e7719c1154076598d8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000203/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.566666666666666,
+  "contact_ratio": 0.8587699316628702,
+  "avg_contact_area": 3665.1458885941643,
+  "contact_entropy": 0.5722770720508173,
+  "total_frames": 439,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 203,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae737ecf1a67fbbaec45938219141bf1e29a96e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005861008074134588,
+  "shear_peak": 0.014604603871703148,
+  "force_magnitude_peak": 0.014820381067693233,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 204,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000205/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000205/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..232ea870aa31fdf7167c0af9c48598cb3443b047
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000205/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.733333333333333,
+  "contact_ratio": 0.8111455108359134,
+  "avg_contact_area": 1962.7251908396947,
+  "contact_entropy": 0.3158812973299398,
+  "total_frames": 323,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 205,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9f84a7e3ba5263a2cb7fe03de19821a986cc0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008338943123817444,
+  "shear_peak": 0.005087041761726141,
+  "force_magnitude_peak": 0.009152844548225403,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 209,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000214/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000214/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4d24666ba78dcecbce438e008d49be68b3145
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000214/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.7593360995850622,
+  "avg_contact_area": 1948.0218579234972,
+  "contact_entropy": 0.3954358454783474,
+  "total_frames": 241,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 214,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000216/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000216/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3935334ca4540a37aac096c5fd37adce591cd5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000216/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009732499718666077,
+  "shear_peak": 0.0040685515850782394,
+  "force_magnitude_peak": 0.009922169148921967,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 216,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000217/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000217/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11df008f6e4c3d27c35c50c627691a6a45621ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000217/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.533333333333333,
+  "contact_ratio": 0.8056338028169014,
+  "avg_contact_area": 8992.206293706293,
+  "contact_entropy": 0.1617644883821652,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 217,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d01ba099035b95708b774dc44b54e3dde97fa30f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018514614552259445,
+  "shear_peak": 0.016648272052407265,
+  "force_magnitude_peak": 0.02394203655421734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 219,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf96141f29155fd8bf5cd25ee9831829274930c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.933333333333334,
+  "contact_ratio": 0.7639484978540773,
+  "avg_contact_area": 25899.921348314605,
+  "contact_entropy": 0.7717300553743054,
+  "total_frames": 233,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 219,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000221/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000221/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4beddfdc3e62550364073ec3e107c053e687f03e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000221/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009796559810638428,
+  "shear_peak": 0.015975605696439743,
+  "force_magnitude_peak": 0.01658722758293152,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 221,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000222/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000222/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83034137c27b8e1e30d270aceb4b7012b83baa08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000222/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.8,
+  "contact_ratio": 0.8384279475982532,
+  "avg_contact_area": 5249.059895833333,
+  "contact_entropy": 0.729029228434488,
+  "total_frames": 458,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 222,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76d373dec45e3263fbd179f0e7e14d56a9e76366
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009811047464609146,
+  "shear_peak": 0.004079336766153574,
+  "force_magnitude_peak": 0.010212050750851631,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000228/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000228/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6414c0ac185f53b0fc950d31267bdfe3b049d55a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000228/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.5,
+  "contact_ratio": 0.87890625,
+  "avg_contact_area": 6327.742222222222,
+  "contact_entropy": 0.4428877491185548,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d9441fb86097ab1dcbad0e20e12956544790aa3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004643190652132034,
+  "shear_peak": 0.024655897170305252,
+  "force_magnitude_peak": 0.024691753089427948,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 230,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000232/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000232/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f57aa9453aeb4c2c77a16277dfa22e5a7f44e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000232/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.966666666666667,
+  "contact_ratio": 0.8820375335120644,
+  "avg_contact_area": 11141.851063829787,
+  "contact_entropy": 0.5993530216350141,
+  "total_frames": 373,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 232,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000233/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000233/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b8bfb7432a4ff7ceca26f28d099f5f595fc623
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000233/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013544178567826748,
+  "shear_peak": 0.016233623027801514,
+  "force_magnitude_peak": 0.018249046057462692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 233,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cf0d4a0bb422c52c275865a4d85650c2ec2450b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.666666666666668,
+  "contact_ratio": 0.9210526315789473,
+  "avg_contact_area": 6939.132142857143,
+  "contact_entropy": 0.5483560767333259,
+  "total_frames": 608,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 238,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b31e1b4a2cf51a5d67272d5b55444900ec5c669
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.026651974767446518,
+  "shear_peak": 0.027804208919405937,
+  "force_magnitude_peak": 0.03848768770694733,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 239,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000241/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000241/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a091ff268594a1b65a4ab066c87ef505e8b8f30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000241/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.1,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8779.580152671755,
+  "contact_entropy": 0.7729261676791669,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 241,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000242/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000242/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7bd48d1cf0a6165f07ef95d5b18e13aba1a9d90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000242/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02069009095430374,
+  "shear_peak": 0.02244262956082821,
+  "force_magnitude_peak": 0.029620544984936714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 242,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000243/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000243/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c5529f8b5cc811c20eecb13b675c70acd8f603
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000243/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.533333333333335,
+  "contact_ratio": 0.9588652482269504,
+  "avg_contact_area": 5227.631656804734,
+  "contact_entropy": 0.24624690110616573,
+  "total_frames": 705,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 243,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d46f1249a2413e668cc1a19f0a4a44845a85fa8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.031662844121456146,
+  "shear_peak": 0.013529698364436626,
+  "force_magnitude_peak": 0.03296643868088722,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 244,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000245/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000245/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea02b84898c426f406e9383574cd95f0c8b12a49
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000245/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.166666666666666,
+  "contact_ratio": 0.6277695716395865,
+  "avg_contact_area": 6813.24,
+  "contact_entropy": 0.7565074231368555,
+  "total_frames": 677,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 245,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d870e7d5e45ebebceaedca325417b2674971c42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015009503811597824,
+  "shear_peak": 0.009671172127127647,
+  "force_magnitude_peak": 0.016414586454629898,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 249,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000254/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000254/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65fe700abb49afa7dcddf76e11a97866852ae879
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000254/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.833333333333332,
+  "contact_ratio": 0.6915544675642595,
+  "avg_contact_area": 4913.33628318584,
+  "contact_entropy": 0.42070078299345764,
+  "total_frames": 817,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 254,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000256/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000256/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8410d6d3448bc52d1ea119ec1b3965b0cd5ec118
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000256/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01450058538466692,
+  "shear_peak": 0.004604451358318329,
+  "force_magnitude_peak": 0.014520706608891487,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 256,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000257/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000257/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a246ab174cd13b632f0f666116a8c2d257ed2c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000257/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.933333333333334,
+  "contact_ratio": 0.8884758364312267,
+  "avg_contact_area": 17626.485355648536,
+  "contact_entropy": 0.6576964250143877,
+  "total_frames": 538,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 257,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b37cbec375598058b8ea6795410b1c151341a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007191851735115051,
+  "shear_peak": 0.007006107829511166,
+  "force_magnitude_peak": 0.01001232210546732,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 259,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9d3a3adb2e0c17cc15ccc47fdf556eccc8839f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.466666666666665,
+  "contact_ratio": 0.9502572898799314,
+  "avg_contact_area": 15964.581227436824,
+  "contact_entropy": 0.5703159677295752,
+  "total_frames": 583,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 259,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000261/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000261/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0667fae73e8f9a49676cde6f9a44888144e12cf7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000261/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.021949591115117073,
+  "shear_peak": 0.01950247772037983,
+  "force_magnitude_peak": 0.028103068470954895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 261,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000262/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000262/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ca1022d1ab947800c304f43015352fef0a77e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000262/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.566666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 9037.457259158751,
+  "contact_entropy": 0.5307072246750122,
+  "total_frames": 737,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 262,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa55b331965da1d8edf1f025625c2ff06d064d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024699730798602104,
+  "shear_peak": 0.05988311022520065,
+  "force_magnitude_peak": 0.05996380373835564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000268/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000268/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da67fbf2811e825bee9cc29173626a881972ea3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000268/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.2,
+  "contact_ratio": 0.9242424242424242,
+  "avg_contact_area": 11653.70218579235,
+  "contact_entropy": 0.12964925967593868,
+  "total_frames": 396,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa5208df99397bef1d27061003ed6fc50a2048d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00814003124833107,
+  "shear_peak": 0.016182249411940575,
+  "force_magnitude_peak": 0.0161924809217453,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 270,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000272/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000272/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff9e165674698ce4c1ae64f52dba73bba397cf1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000272/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.8,
+  "contact_ratio": 0.8354430379746836,
+  "avg_contact_area": 5466.231060606061,
+  "contact_entropy": 0.5937822102670053,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 272,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000273/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000273/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ed863ceedef34918bea3adc31cbe98b11e8290
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000273/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01140644308179617,
+  "shear_peak": 0.014239203184843063,
+  "force_magnitude_peak": 0.014295085333287716,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 273,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..666d2c7f3f10bda593335b2e3ad173d9d41ee971
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.633333333333333,
+  "contact_ratio": 0.881578947368421,
+  "avg_contact_area": 2596.4968017057568,
+  "contact_entropy": 0.21279726602062202,
+  "total_frames": 532,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 278,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4381d8170066682b25e59d65b532bb211fbb67c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012528583407402039,
+  "shear_peak": 0.00688965292647481,
+  "force_magnitude_peak": 0.014022157527506351,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 279,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000281/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000281/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8c5777b00d18400aa2fc65fc41936c1426948
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000281/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.8,
+  "contact_ratio": 0.7548387096774194,
+  "avg_contact_area": 6183.183760683761,
+  "contact_entropy": 0.7062887306714014,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 281,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000282/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000282/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6563102108c6f8aa006b946a1e216731b9023c48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000282/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024831093847751617,
+  "shear_peak": 0.026030661538243294,
+  "force_magnitude_peak": 0.03207206353545189,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 282,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000283/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000283/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b40271c730ee9f5799b022d18a21a1c55359dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000283/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.8233532934131736,
+  "avg_contact_area": 3887.778181818182,
+  "contact_entropy": 0.0855848882677606,
+  "total_frames": 334,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 283,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2679ca2a01bf0b055eb943cd93dbee6ac2ffce20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.025756366550922394,
+  "shear_peak": 0.02629668079316616,
+  "force_magnitude_peak": 0.0368090458214283,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000285/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000285/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d143392b6740dfa18fd19da4c855d2f5485be28b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000285/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.966666666666667,
+  "contact_ratio": 0.8038461538461539,
+  "avg_contact_area": 5817.334928229665,
+  "contact_entropy": 0.3240476154566657,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 285,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82cc380b142d0290b2634a424bd5e58dd0ef2fdc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0053152465261518955,
+  "shear_peak": 0.00405708234757185,
+  "force_magnitude_peak": 0.006597133819013834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 289,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000294/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000294/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec01d655f69847f883a784dbcd405d16223a0ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000294/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.6823899371069182,
+  "avg_contact_area": 1534.1981566820277,
+  "contact_entropy": 0.19562141388361048,
+  "total_frames": 318,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 294,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000296/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000296/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e5a670101a6255b1a55c155872ef9618d0415fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000296/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009852565824985504,
+  "shear_peak": 0.003386616939678788,
+  "force_magnitude_peak": 0.010155318304896355,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 296,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000297/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000297/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e55e7a178a666cb633975f652a79a7d138d1a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000297/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.066666666666666,
+  "contact_ratio": 0.8897058823529411,
+  "avg_contact_area": 6366.140495867769,
+  "contact_entropy": 0.9510058680795103,
+  "total_frames": 272,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 297,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5203a0aced40e5a9be91682a616e499b794824
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.021051686257123947,
+  "shear_peak": 0.015136685222387314,
+  "force_magnitude_peak": 0.02589779905974865,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 299,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28376625cb2bfac55ad275bcffbe04a817c063d3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.7748091603053435,
+  "avg_contact_area": 2513.6256157635466,
+  "contact_entropy": 0.0,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 299,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000301/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000301/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0178d538f09bec7f92f7c447fa672986693abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000301/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01469001080840826,
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+  "force_magnitude_peak": 0.015622870996594429,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 301,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000302/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000302/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b02e75a9faec99e3f8b6028d7f4817e7eae8f77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000302/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.666666666666666,
+  "contact_ratio": 0.8951406649616368,
+  "avg_contact_area": 5290.414285714286,
+  "contact_entropy": 0.765948206796556,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 302,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd3d0573891df17920d99453bcb3d3d57026b3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009565226500853896,
+  "shear_peak": 0.002394597977399826,
+  "force_magnitude_peak": 0.0023983304854482412,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000308/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000308/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df71c664e94a793647dcc235dfec4f022fde88b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000308/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.8208092485549133,
+  "avg_contact_area": 1470.1830985915492,
+  "contact_entropy": 0.013271743988707854,
+  "total_frames": 346,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 308,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea8ea298221e592e26a2211c24cd689e3323f22b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.025241071358323097,
+  "shear_peak": 0.018023410812020302,
+  "force_magnitude_peak": 0.03027249313890934,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 310,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000312/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000312/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a26fcce4bf7c872ddb182660686c259afe8eef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000312/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.1,
+  "contact_ratio": 0.8588709677419355,
+  "avg_contact_area": 5962.708920187793,
+  "contact_entropy": 0.690589030411132,
+  "total_frames": 248,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 312,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000313/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000313/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f40e76dd3f00aee0184b9e3bd85325590497358c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000313/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015219850465655327,
+  "shear_peak": 0.0036861244589090347,
+  "force_magnitude_peak": 0.003686127020046115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 313,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf25c43180cea2c59998607a71921e158df2f31
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.766666666666667,
+  "contact_ratio": 0.797945205479452,
+  "avg_contact_area": 2218.982832618026,
+  "contact_entropy": 0.04653676086161414,
+  "total_frames": 292,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 318,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7559da639ae502a6e8f86bc259af0a97a90032a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02322564832866192,
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+  "force_magnitude_peak": 0.025485355406999588,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 319,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000321/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000321/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..332c445fe036263cf48bde55547eb06ed302c405
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000321/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.766666666666667,
+  "contact_ratio": 0.8567251461988304,
+  "avg_contact_area": 6972.96928327645,
+  "contact_entropy": 0.7109522854667417,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 321,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000322/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000322/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a047936e7962108ba385acbb4c736d28649398
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000322/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002978854812681675,
+  "shear_peak": 0.00488369632512331,
+  "force_magnitude_peak": 0.005713402759283781,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 322,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000323/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000323/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bfa2245c68f78250ab55b87e1528f54bc3b9f7e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000323/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.433333333333334,
+  "contact_ratio": 0.8903846153846153,
+  "avg_contact_area": 11825.511879049676,
+  "contact_entropy": 0.5448740620473214,
+  "total_frames": 520,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 323,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81667959db9096d8cefb66cf406f3e32ed83c86f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014001375995576382,
+  "shear_peak": 0.0040681082755327225,
+  "force_magnitude_peak": 0.014146889559924603,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000325/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000325/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa0e60d7166e6cb0215c94faf1cd2246b8a1418
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000325/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.4,
+  "contact_ratio": 0.6491228070175439,
+  "avg_contact_area": 2399.990990990991,
+  "contact_entropy": 0.3457551888894464,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 325,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2611dd27a4ab5cd717b36e8ff6d93bcf393bba47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006491641514003277,
+  "shear_peak": 0.003335653804242611,
+  "force_magnitude_peak": 0.006767106242477894,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 329,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000334/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000334/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab560c0fd677a398ac0e292cbc7fafa5bc4d813
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000334/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.633333333333333,
+  "contact_ratio": 0.7448453608247423,
+  "avg_contact_area": 2858.5778546712804,
+  "contact_entropy": 0.9299028008337566,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 334,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000336/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000336/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0589a90fa4c98b6e484d7e690ac0f8f995861d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000336/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011120576411485672,
+  "shear_peak": 0.005085284356027842,
+  "force_magnitude_peak": 0.01222813781350851,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 336,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000337/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000337/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5232e16a7f59c02a30b1c7625096caa22afb6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000337/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.566666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 15160.471744471744,
+  "contact_entropy": 0.7257721180927745,
+  "total_frames": 407,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 337,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e7912a92dabe79035a21eaf4bb679d61629e40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002546544885262847,
+  "shear_peak": 0.002521805465221405,
+  "force_magnitude_peak": 0.0025830029044300318,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 339,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc621cf6fe1cd70a178780f6bed615f4af9a6ad2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.066666666666666,
+  "contact_ratio": 0.8296703296703297,
+  "avg_contact_area": 3307.6854304635763,
+  "contact_entropy": 0.4828909333659295,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 339,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000341/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000341/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c4c2ef7e45d066a17697b973f3eae7889933cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000341/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009154428727924824,
+  "shear_peak": 0.002861437853425741,
+  "force_magnitude_peak": 0.009212345816195011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 341,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000342/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000342/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde5ea1a9ea274408f48356a270dc2f8ea98fa0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000342/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.8255813953488372,
+  "avg_contact_area": 3177.2640845070423,
+  "contact_entropy": 0.6369529648278279,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 342,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f8702092cb07575ddaf03a439ca721f223d32c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.019558120518922806,
+  "shear_peak": 0.00969730969518423,
+  "force_magnitude_peak": 0.021816102787852287,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000348/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000348/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c7ba4095619d05233c4c21cc4311676c9cbcce6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000348/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.3,
+  "contact_ratio": 0.8621495327102804,
+  "avg_contact_area": 9676.084010840108,
+  "contact_entropy": 0.5121107574332554,
+  "total_frames": 428,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6ed5f2c7bba23da2259ad87e86055781f913902
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.021269507706165314,
+  "shear_peak": 0.0067192926071584225,
+  "force_magnitude_peak": 0.02127450332045555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 350,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000352/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000352/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4beba65ccea6f8a6b8663276d78a1602f37ca54c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000352/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.55,
+  "avg_contact_area": 3185.5084175084176,
+  "contact_entropy": 0.5686804268706153,
+  "total_frames": 540,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 352,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000354/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000354/gripper_left_tactile_contact_metrics.json
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