diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000362/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7274528eeab9666bf699a91200b8544b75ca544a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016413156408816576,
+  "shear_peak": 0.0033979604486376047,
+  "force_magnitude_peak": 0.0039240350015461445,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000398/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000398/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7971589963d326e92eb1c9c79bf923efff078c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000398/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00813689548522234,
+  "shear_peak": 0.0067165629006922245,
+  "force_magnitude_peak": 0.010550890117883682,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 398,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d1e9a86cd480520eef14fe6682be55d7bc1ccd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004765369463711977,
+  "shear_peak": 0.006688043475151062,
+  "force_magnitude_peak": 0.007522926200181246,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..579d8ec47204c8386c1ea2f4412c75915681ca4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.8484848484848485,
+  "avg_contact_area": 3647.8849206349205,
+  "contact_entropy": 0.2347880271798604,
+  "total_frames": 297,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 405,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c173d8cef350d01a8ac131f25c110ef1b2ba72a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006935342215001583,
+  "shear_peak": 0.004017849452793598,
+  "force_magnitude_peak": 0.007999339140951633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 407,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc79768aa604a4b6e6573e32303521f66e51a3aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.333333333333334,
+  "contact_ratio": 0.9064327485380117,
+  "avg_contact_area": 1303.2129032258065,
+  "contact_entropy": 0.4190414117834131,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 407,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c77f40f02ee1aa9b92d7a4be0cdaa7c7356db5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000407/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0058511532843112946,
+  "shear_peak": 0.005660590250045061,
+  "force_magnitude_peak": 0.007623014971613884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 407,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000409/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000409/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd0ea688f7fe9d764be1a56451b2feb35e6f7bf4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000409/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00391731783747673,
+  "shear_peak": 0.009094731882214546,
+  "force_magnitude_peak": 0.00926592480391264,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 409,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000410/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000410/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..346cc7d282c3714f86c3195f54e9433264346e2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000410/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008176286704838276,
+  "shear_peak": 0.0015948677901178598,
+  "force_magnitude_peak": 0.008246978744864464,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 410,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1627b75f4fad7ababc69ad3cb81fe58cfedc6c43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.733333333333333,
+  "contact_ratio": 0.8704318936877077,
+  "avg_contact_area": 4730.461832061069,
+  "contact_entropy": 0.459190242581181,
+  "total_frames": 301,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 413,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa7675a9ec3dd61939db5ff16241873e214adf2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002389927627518773,
+  "shear_peak": 0.0030170490499585867,
+  "force_magnitude_peak": 0.003423308953642845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 416,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded9eef766791d23a4b045a8cd8fa9df44111d71
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 0.8920863309352518,
+  "avg_contact_area": 1094.4153225806451,
+  "contact_entropy": 0.03991152873054321,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 419,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa0ada9419ebbb9658cdf5df2486d8742861c9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.845360824742268,
+  "avg_contact_area": 5507.414634146341,
+  "contact_entropy": 0.36935889395839944,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 420,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0878eb90475a464d7ce60ca3a197911e99f86a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.7412280701754386,
+  "avg_contact_area": 4958.923076923077,
+  "contact_entropy": 0.6938954495838326,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 422,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed8acd48e9011b893bf0a4387f2f9dd1b7266323
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.755656108597285,
+  "avg_contact_area": 4746.479041916167,
+  "contact_entropy": 0.48480394027946905,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 427,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc28376d81234b3e5634cda2eba050ac05e92c48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.366666666666666,
+  "contact_ratio": 0.8642533936651584,
+  "avg_contact_area": 1347.3141361256544,
+  "contact_entropy": 0.2359585691082728,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d5ad83c18f075961adde8821e1761a7ace4279
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000427/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003416367108002305,
+  "shear_peak": 0.0025676789227873087,
+  "force_magnitude_peak": 0.004150694701820612,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b15929079ec572a7726e37e667214da323512b1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.6926605504587156,
+  "avg_contact_area": 578.0198675496689,
+  "contact_entropy": 0.09765450215565664,
+  "total_frames": 218,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 429,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000432/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000432/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90b4126a8a154ebb2e907dcd8495c6c82810cb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000432/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.966666666666667,
+  "contact_ratio": 0.7489539748953975,
+  "avg_contact_area": 4737.670391061452,
+  "contact_entropy": 0.5460796998894766,
+  "total_frames": 239,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 432,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000436/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000436/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25cd1fff2f10c3400862c02c6513070547da518
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000436/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007341107353568077,
+  "shear_peak": 0.007360961753875017,
+  "force_magnitude_peak": 0.009326864033937454,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 436,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4635063e65557a2b46402833ecbfcc4630f6488c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009081228636205196,
+  "shear_peak": 0.00272214412689209,
+  "force_magnitude_peak": 0.002725195838138461,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 438,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43945535b962d82529b1f09e0331ba9201cacb92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004613346885889769,
+  "shear_peak": 0.0028183390386402607,
+  "force_magnitude_peak": 0.00535176694393158,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 439,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed63d4766a06c8ee95769ca180ca8e69b058ceb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023117742966860533,
+  "shear_peak": 0.004760580603033304,
+  "force_magnitude_peak": 0.005077431444078684,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3f73647277808364d852da82326f86037037d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.7525252525252525,
+  "avg_contact_area": 1255.4630872483222,
+  "contact_entropy": 0.010002655342485695,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 445,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8b79e06f71090f1bf77282b795ea1c5d55423f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002724468009546399,
+  "shear_peak": 0.0028596881311386824,
+  "force_magnitude_peak": 0.0038225699681788683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 447,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4456e42a05af2b104757c510f63d11993bc2c5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.75,
+  "avg_contact_area": 579.4550264550264,
+  "contact_entropy": 0.015271620825428042,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 447,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6326388683168b21d0b546f47604f9b0a4e55905
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000447/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009230764699168503,
+  "shear_peak": 0.0012606664095073938,
+  "force_magnitude_peak": 0.001323916600085795,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 447,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000449/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000449/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bcd0334218c1a203ba96edf0d661260a3849453
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000449/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001686509931460023,
+  "shear_peak": 0.0012587924720719457,
+  "force_magnitude_peak": 0.0017966548912227154,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 449,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000450/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000450/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5461bdc008eb264f181404a87ed79c45c7aa763d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000450/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005359773989766836,
+  "shear_peak": 0.0034535296726971865,
+  "force_magnitude_peak": 0.005933472421020269,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 450,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc98abdc30859a2db13c4646d03406c67f13948
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.6989795918367347,
+  "avg_contact_area": 2923.29197080292,
+  "contact_entropy": 0.17489949145233208,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 453,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb35940f7710feedd6bf4d065b52855cedb98abe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004711007699370384,
+  "shear_peak": 0.003498306730762124,
+  "force_magnitude_peak": 0.005599958822131157,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 456,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63cadb93cc3fbb8cfd2fb0cf22af3aa7d0d78aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.466666666666667,
+  "contact_ratio": 0.7578125,
+  "avg_contact_area": 3713.634020618557,
+  "contact_entropy": 0.1765154981439098,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 459,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a79c576f3861ae69512ba5a5eb53570cc0d15ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.7713178294573644,
+  "avg_contact_area": 5656.738693467337,
+  "contact_entropy": 0.5951494155368252,
+  "total_frames": 258,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 460,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..897252267f88b36e0da32ffffbb5aa8393f845f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.066666666666666,
+  "contact_ratio": 0.8897058823529411,
+  "avg_contact_area": 443.0330578512397,
+  "contact_entropy": 0.31008443926707546,
+  "total_frames": 272,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 462,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab4925b23ab584b38c736574064a627ac2970ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.8353413654618473,
+  "avg_contact_area": 3767.471153846154,
+  "contact_entropy": 0.14990620231552154,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 467,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b960ddce1801b79887e725d6d753071026077485
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.8353413654618473,
+  "avg_contact_area": 3974.543269230769,
+  "contact_entropy": 0.5836721551176732,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce91df0969c961968d8e230c441247d9dfb8bd9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000467/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00541610037907958,
+  "shear_peak": 0.005442013032734394,
+  "force_magnitude_peak": 0.007383378688246012,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6232713b523bc27a22492a1624f8d0f81f7fe6c9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.5,
+  "contact_ratio": 0.7894736842105263,
+  "avg_contact_area": 8272.684848484849,
+  "contact_entropy": 0.14594580019265155,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 469,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000472/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000472/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb056e8758d4d9faae78e3dc6fe54709331acb9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000472/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.8591549295774648,
+  "avg_contact_area": 7392.595628415301,
+  "contact_entropy": 0.5278229518648945,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000476/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000476/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13074269b581e0f2b9701e7b788f731d67e7a7a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000476/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004957750206813216,
+  "shear_peak": 0.0010174685157835484,
+  "force_magnitude_peak": 0.002494547516107559,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 476,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fabfadde055020afd8869108b92ef8abd3cae03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024657060857862234,
+  "shear_peak": 0.0032153206411749125,
+  "force_magnitude_peak": 0.0037916861474514008,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 478,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d153bbde37595d15efb9da7a38005c340de976e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006022208835929632,
+  "shear_peak": 0.0033699600026011467,
+  "force_magnitude_peak": 0.0060584936290979385,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 479,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9ff8d492d18e8c61bdbaccde9dde6b29a31c20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00703956326469779,
+  "shear_peak": 0.011022566817700863,
+  "force_magnitude_peak": 0.012961719185113907,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 482,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8cc8a94ed5212011a7b3236bc1aac807433fcfe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.366666666666666,
+  "contact_ratio": 0.8036363636363636,
+  "avg_contact_area": 1857.0904977375565,
+  "contact_entropy": 0.3136675526222099,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 485,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7188c39b329e75abe173b33546c0489b40efea6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001613641856238246,
+  "shear_peak": 0.0035237630363553762,
+  "force_magnitude_peak": 0.0040010567754507065,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 487,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..393bae9aad881957700e70582c56154262793d6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.7713178294573644,
+  "avg_contact_area": 571.4572864321608,
+  "contact_entropy": 0.09549950767139252,
+  "total_frames": 258,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 487,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1326458af837db8e197af9f6f09c0b0cd36cd0fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000487/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004192838445305824,
+  "shear_peak": 0.0017479462549090385,
+  "force_magnitude_peak": 0.004195873159915209,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 487,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000489/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000489/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe1f990734e0d804245054aec1a93353abd0273
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000489/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018914511892944574,
+  "shear_peak": 0.00210484373383224,
+  "force_magnitude_peak": 0.0025252974592149258,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 489,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000490/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000490/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..518a60f81be93654af749fca4247541a4fd5a2fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000490/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027218719478696585,
+  "shear_peak": 0.0027458404656499624,
+  "force_magnitude_peak": 0.0038608326576650143,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 490,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83914954333476db3dae943167885d41f5740ad2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.8556701030927835,
+  "avg_contact_area": 3025.6586345381525,
+  "contact_entropy": 0.03636335302870549,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 493,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac432ddba323b5449e999c9283beb038f0e39ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012266732519492507,
+  "shear_peak": 0.001949642552062869,
+  "force_magnitude_peak": 0.005027300678193569,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 496,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e795f61874e11201b2fb5eca241a0c313bffc802
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.266666666666667,
+  "contact_ratio": 0.8790322580645161,
+  "avg_contact_area": 6411.091743119266,
+  "contact_entropy": 0.02792929800978274,
+  "total_frames": 248,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 499,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b958b0c92e6bec0f79d4449e63e6989ba86f0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.7028301886792453,
+  "avg_contact_area": 754.510067114094,
+  "contact_entropy": 0.006126036302268812,
+  "total_frames": 212,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 500,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45d79206a237729923336c6b2ec30d8bb68fde3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.8,
+  "contact_ratio": 0.7878787878787878,
+  "avg_contact_area": 993.1495726495726,
+  "contact_entropy": 0.20420455819054062,
+  "total_frames": 297,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 502,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5629aa853cbd1f43956bebfc9b48661e531c7370
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.6793478260869565,
+  "avg_contact_area": 1695.824,
+  "contact_entropy": 0.0,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 507,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23244bdd34778af7885b7364731c5f2f4f8ddcc1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.033333333333333,
+  "contact_ratio": 0.657608695652174,
+  "avg_contact_area": 919.198347107438,
+  "contact_entropy": 0.22136433296580277,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 507,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..872f25a1406d2169cc92e6132210e486c19bae0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000507/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011341642821207643,
+  "shear_peak": 0.002737824572250247,
+  "force_magnitude_peak": 0.0027800581883639097,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 507,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a419d77661711600204e77d18b75a89afee447
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.6793478260869565,
+  "avg_contact_area": 1551.84,
+  "contact_entropy": 0.23763105081807637,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 509,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000512/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000512/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d49508ea2bfe6e3b985afc027c63e56becacc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000512/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.8106508875739645,
+  "avg_contact_area": 2330.941605839416,
+  "contact_entropy": 0.20628874335320427,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 512,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000516/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000516/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2538c5e7509dc88d1927e7442dc5e35941829f6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000516/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005020661628805101,
+  "shear_peak": 0.0026889806613326073,
+  "force_magnitude_peak": 0.002904006512835622,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 516,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b2b5daf9605fc1d37b2a62e4fee68b9adc56cf8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00036822736728936434,
+  "shear_peak": 0.0017466136487200856,
+  "force_magnitude_peak": 0.0024065764155238867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 518,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11902a8bf5edb7ce85624c586af1ee254f4d4355
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001128836185671389,
+  "shear_peak": 0.0021032646764069796,
+  "force_magnitude_peak": 0.002627386013045907,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 519,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2cc1abb3a3481e763d0912ae0b2d32470a079ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0054231127724051476,
+  "shear_peak": 0.003430685494095087,
+  "force_magnitude_peak": 0.005426288116723299,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 522,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..555e5cdf99e05de46af20fcdc3863e029c32a736
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.0,
+  "contact_ratio": 0.875,
+  "avg_contact_area": 3498.5238095238096,
+  "contact_entropy": 0.03297367999896024,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 525,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a4cf0e1cc0821741d17cde84110ae23dcd07ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004444797057658434,
+  "shear_peak": 0.0035450824070721865,
+  "force_magnitude_peak": 0.005623257253319025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 527,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e54ccf0a6a6673284e11f4c19b50eddd3c1ddb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.7777777777777778,
+  "avg_contact_area": 3268.1488095238096,
+  "contact_entropy": 0.5250345271748751,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 527,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c3b98f24b99c48e2ff0e53a623c1d00c308cb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000527/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013380872551351786,
+  "shear_peak": 0.002388590481132269,
+  "force_magnitude_peak": 0.0024556340649724007,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 527,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000529/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000529/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1d408b582e2e6fd560a30bfcf6c26843c4dc5a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000529/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010310583747923374,
+  "shear_peak": 0.003048436949029565,
+  "force_magnitude_peak": 0.010331840254366398,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 529,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000530/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000530/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a983d20ea53c85ccc70b66f4f83bb0dc0d6dac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000530/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00713731674477458,
+  "shear_peak": 0.004686629865318537,
+  "force_magnitude_peak": 0.008230759762227535,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 530,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d7755d9cdd362f9e22d1e453e79171a1eb0105
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.8186046511627907,
+  "avg_contact_area": 2512.6988636363635,
+  "contact_entropy": 0.35340599695463676,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 533,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63bbfc1accae5e95e3e470e3fe6013af0be03a0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033552178647369146,
+  "shear_peak": 0.00345451757311821,
+  "force_magnitude_peak": 0.003630041843280196,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 536,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80495419eb1ffbdbc8e06eb293b73395b400604e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.7064676616915423,
+  "avg_contact_area": 953.6971830985915,
+  "contact_entropy": 0.3347843593204971,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 539,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3a29494221ac4bacf2309a743828a9651755ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.7773109243697479,
+  "avg_contact_area": 2426.281081081081,
+  "contact_entropy": 0.18925145836445018,
+  "total_frames": 238,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 540,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c9c8ceff551e19272b5579a5cfa0037c927209
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.7177033492822966,
+  "avg_contact_area": 302.5,
+  "contact_entropy": 0.012379659341700027,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 542,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6d578ccc547999c494bdac7a4a1c2bfd5dde299
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.033333333333333,
+  "contact_ratio": 0.6722222222222223,
+  "avg_contact_area": 1728.900826446281,
+  "contact_entropy": 0.051201879140749626,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 547,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00326b542684302b86a40567c806e17d3125cf2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.6666666666666666,
+  "avg_contact_area": 759.3916666666667,
+  "contact_entropy": 0.0003727121709553771,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 547,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f809ee329d40079ed7fd131e407a6be43e6b34
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000547/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00011188761709490791,
+  "shear_peak": 0.0013778188731521368,
+  "force_magnitude_peak": 0.0019364721374586225,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 547,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..659c3dcf4cddade5d10d4b9e11a99b3f72f5c6be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.7630522088353414,
+  "avg_contact_area": 4084.563157894737,
+  "contact_entropy": 0.6317460808499877,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 549,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000552/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000552/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f61665c895bd8029c6439824448f6aeae1d7da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000552/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.266666666666667,
+  "contact_ratio": 0.7745098039215687,
+  "avg_contact_area": 2694.3164556962024,
+  "contact_entropy": 0.057389181885807994,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 552,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000556/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000556/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b536abe535aac215a0d1753dbbd636217f9d7c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000556/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007247459143400192,
+  "shear_peak": 0.0037395188119262457,
+  "force_magnitude_peak": 0.00776613550260663,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 556,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a403a714afa7ec363577a90f7bee39b7736851
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019186321878805757,
+  "shear_peak": 0.0022750096395611763,
+  "force_magnitude_peak": 0.002932777861133218,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 558,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee247052c54ffca8199fcf996eae6def5fdac368
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012261149240657687,
+  "shear_peak": 0.0017669124063104391,
+  "force_magnitude_peak": 0.0020784023217856884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 559,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b58502f9b1349f05c7e7b923c60453b000154ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038902610540390015,
+  "shear_peak": 0.004832268692553043,
+  "force_magnitude_peak": 0.005728588439524174,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 562,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fccc8239b1a1356645bffb03465fee5428a7ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.7025641025641025,
+  "avg_contact_area": 3789.875912408759,
+  "contact_entropy": 0.5370772971625715,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 565,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a18770ae5e58f0fe71faa5dceadeb24d6b8bb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011027278378605843,
+  "shear_peak": 0.002119670622050762,
+  "force_magnitude_peak": 0.0021372961346060038,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 567,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee26b2dc8611f1886cfd31c349bf29cec1cf62b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.3,
+  "contact_ratio": 0.7633136094674556,
+  "avg_contact_area": 2226.0077519379847,
+  "contact_entropy": 0.6243500917236381,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 567,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c975b46168891c1f8763531bf74c3e1fef52d58b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000567/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006981153506785631,
+  "shear_peak": 0.001814106130041182,
+  "force_magnitude_peak": 0.007098737172782421,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 567,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000569/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000569/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92480bcbab0494ed5037a662ce53fa0f9e8434d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000569/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020591102074831724,
+  "shear_peak": 0.0013790091034024954,
+  "force_magnitude_peak": 0.0021217823959887028,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 569,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000570/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000570/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d90857f3f18c597e0239127f7b841a17993233
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000570/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00771958427503705,
+  "shear_peak": 0.002421329030767083,
+  "force_magnitude_peak": 0.0077372281812131405,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 570,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4e2f8a453283ce1c3a8b120cafa27623d036b44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.874251497005988,
+  "avg_contact_area": 1698.0479452054794,
+  "contact_entropy": 0.0025237736832450777,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 573,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb466eca33ab0bcca8ef43edf835d0d0cf05c695
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0051765781827270985,
+  "shear_peak": 0.008018272928893566,
+  "force_magnitude_peak": 0.009544090367853642,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 576,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f8cf89d2c072f7b0047c261a166e0b15c8f758
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.8341968911917098,
+  "avg_contact_area": 4829.484472049689,
+  "contact_entropy": 0.2787473325886167,
+  "total_frames": 193,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 579,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec2ddbbbf06c6b7d49624acf5e0cbb306c98749
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.7305699481865285,
+  "avg_contact_area": 8012.09219858156,
+  "contact_entropy": 0.4815748992367596,
+  "total_frames": 193,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 580,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b0336e2e29834951c5163f1d7e7cf2a3d3e859
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.6589595375722543,
+  "avg_contact_area": 713.1842105263158,
+  "contact_entropy": 0.18787008212495226,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 582,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3998d7e223ea5c6e85e12acd61ae1fc9cc3d7aae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.1,
+  "contact_ratio": 0.7884615384615384,
+  "avg_contact_area": 2543.4634146341464,
+  "contact_entropy": 0.37160968959995033,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 587,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec49ddca0a957998bca8a85d5bcebde43f6d8a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2333333333333334,
+  "contact_ratio": 0.6217948717948718,
+  "avg_contact_area": 190.2164948453608,
+  "contact_entropy": 0.04166619264547422,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 587,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24bef65eeefe4ecdcc0449cc0a8f51e08bdfd042
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000587/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015340191312134266,
+  "shear_peak": 0.002142548793926835,
+  "force_magnitude_peak": 0.002154282061383128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 587,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47489bf23aa2bac65ca3496e7cf2ca94ed4d23f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.7679558011049724,
+  "avg_contact_area": 3152.517985611511,
+  "contact_entropy": 0.3073487649224965,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 589,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000592/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000592/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b64d6f3480683462de7739c8b42fe89ef9b537
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000592/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.8604651162790697,
+  "avg_contact_area": 588.4810810810811,
+  "contact_entropy": 0.14636222084245284,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 592,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000596/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000596/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e524d663707ef78f10b3ef923ab25b63e349e559
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000596/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016442735213786364,
+  "shear_peak": 0.0015281349187716842,
+  "force_magnitude_peak": 0.001735531142912805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 596,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0024243d12100f9bfffb5e4621106e02b6a483b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029920032247900963,
+  "shear_peak": 0.0016341654118150473,
+  "force_magnitude_peak": 0.0030401579570025206,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 598,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c76d6e6b443ca8dfd6549cdb02c164a74090b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038759324233978987,
+  "shear_peak": 0.0020900110248476267,
+  "force_magnitude_peak": 0.004148181062191725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 599,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..151ffdfbe2fdc22832c33529da1e3365af35df4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011561067774891853,
+  "shear_peak": 0.005630163010209799,
+  "force_magnitude_peak": 0.011793406680226326,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 602,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c916d05fcca86ae493b786949c82b98f8d19e15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.166666666666666,
+  "contact_ratio": 0.8318098720292505,
+  "avg_contact_area": 2516.3274725274723,
+  "contact_entropy": 0.2263048493470655,
+  "total_frames": 547,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 605,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62fee18051139fb6bee3f7e1edb7429c2414c9d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011957403272390366,
+  "shear_peak": 0.002712515415623784,
+  "force_magnitude_peak": 0.012176701799035072,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 607,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29520674f91c0f76363e0433e757ffa32c2595e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.1,
+  "contact_ratio": 0.8430379746835444,
+  "avg_contact_area": 2209.3123123123123,
+  "contact_entropy": 0.3954041036949247,
+  "total_frames": 395,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 607,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ba42881a3818fddd8adeddaa9ed3f37f15ca681
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000607/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007286352105438709,
+  "shear_peak": 0.002664359752088785,
+  "force_magnitude_peak": 0.007638790179044008,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 607,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000609/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000609/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f72c958b386af520c2b63b901f88638e375818
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000609/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033338984940201044,
+  "shear_peak": 0.0036594781558960676,
+  "force_magnitude_peak": 0.004200062248855829,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 609,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000610/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000610/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc84592a20fad1cc80dc2d45ff707369564f072
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000610/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003525130683556199,
+  "shear_peak": 0.0022369937505573034,
+  "force_magnitude_peak": 0.0041417405009269714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 610,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f21712ddbbaac4ff520c59786d4b3f3b507d96fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.133333333333333,
+  "contact_ratio": 0.9465930018416207,
+  "avg_contact_area": 3481.4027237354085,
+  "contact_entropy": 0.4500960846210506,
+  "total_frames": 543,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 613,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e83aae288c3d8547bc8b7ac23aaf5a780cc1d67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01203224342316389,
+  "shear_peak": 0.004646354354918003,
+  "force_magnitude_peak": 0.012776823714375496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 616,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d721b063b58ff157932cbc21e0a710c238623d24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.8957219251336899,
+  "avg_contact_area": 3793.4776119402986,
+  "contact_entropy": 0.40281140890687117,
+  "total_frames": 374,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 619,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb26be5652e4671e79a3cd269405ecb103530a42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.8098360655737705,
+  "avg_contact_area": 3932.6234817813765,
+  "contact_entropy": 0.9220495928864135,
+  "total_frames": 305,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 620,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f62d9616fa98c054966ae2c40245b4bdb064f2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.7695167286245354,
+  "avg_contact_area": 2200.6618357487923,
+  "contact_entropy": 0.5623494705916893,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 622,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1fe5328700e2bb20aee9a01a81eee52c3079182
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.566666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5302.828375286042,
+  "contact_entropy": 0.321970119882076,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 627,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff6451c8504047910d6f47208637d2dbe483461c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.9016018306636155,
+  "avg_contact_area": 3107.6345177664975,
+  "contact_entropy": 0.5305354460178898,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fbfb39b84f3f86a6cecb6fe7f63ad3a535eeecb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000627/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007502432446926832,
+  "shear_peak": 0.00865236483514309,
+  "force_magnitude_peak": 0.01137901283800602,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5df51b42741a480c8a7a70c30e8cb3dc9d6ccd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.433333333333334,
+  "contact_ratio": 0.9319470699432892,
+  "avg_contact_area": 1493.3529411764705,
+  "contact_entropy": 0.3478271541360108,
+  "total_frames": 529,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 629,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000632/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000632/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08595b8ec9a517657dca86ca7e355907bb0ef0c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000632/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.833333333333333,
+  "contact_ratio": 0.8413461538461539,
+  "avg_contact_area": 4765.257142857143,
+  "contact_entropy": 0.47405853617399935,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 632,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000636/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000636/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4e7940914ccc75fa9035ba92e5a357fd7a8045
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000636/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009948244551196694,
+  "shear_peak": 0.004552545491605997,
+  "force_magnitude_peak": 0.0048595936968922615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 636,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9023fa505fd69a3a08e3e947ea87dd7848312b55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034754581283777952,
+  "shear_peak": 0.013141421601176262,
+  "force_magnitude_peak": 0.01742202788591385,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 638,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000639/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000639/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e75130b09c6ba8d490d21b112771bd7040f274e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000639/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004852165002375841,
+  "shear_peak": 0.005969387479126453,
+  "force_magnitude_peak": 0.008723011240363121,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 639,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000640/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000640/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..981a79e83022dc176d7e9dbedd9952c90a1e5116
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000640/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.566666666666666,
+  "contact_ratio": 0.8223495702005731,
+  "avg_contact_area": 2114.574912891986,
+  "contact_entropy": 0.7580426392901476,
+  "total_frames": 349,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 640,
+  "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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1891412cdabafa54128fa5b09956a8527eb6f6e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010366342961788177,
+  "shear_peak": 0.0062811472453176975,
+  "force_magnitude_peak": 0.012120803818106651,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 643,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..970da4f196323bf7614a2651cc1f2ac18ea84424
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013751926831901073,
+  "shear_peak": 0.014865346252918243,
+  "force_magnitude_peak": 0.017285415902733803,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 644,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef73c8c3353c993ade4490dd447678f73b63e734
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.748,
+  "avg_contact_area": 4556.951871657754,
+  "contact_entropy": 1.0346340509224683,
+  "total_frames": 250,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 0,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c37e8e0fa94a3aff3b04edd5ddc603f5d5aa1d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.5263157894736842,
+  "avg_contact_area": 1887.418181818182,
+  "contact_entropy": 0.5568587749293862,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 2,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80755f8fb4a3cc46289b8915f7e1a72c579b4fe1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006992933340370655,
+  "shear_peak": 0.007375642191618681,
+  "force_magnitude_peak": 0.008052733726799488,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 3,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42193c2cf9ebf1e7d413352b9afceb95d112f7bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3,
+  "contact_ratio": 0.42127659574468085,
+  "avg_contact_area": 2592.181818181818,
+  "contact_entropy": 0.9041215974256921,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 8,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ec027a8db842bbf0875a59db740969ce6928d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01893245056271553,
+  "shear_peak": 0.008762957528233528,
+  "force_magnitude_peak": 0.02076425589621067,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 11,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c0319b6044aa1300c682db577a666c88bcee92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.6023166023166023,
+  "avg_contact_area": 239.7948717948718,
+  "contact_entropy": 0.002466563595518888,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 12,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..099e111a9978fa47ea2e4c28f61b49c019bd5bb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.4,
+  "contact_ratio": 0.7529411764705882,
+  "avg_contact_area": 354.7916666666667,
+  "contact_entropy": 0.014131152675240791,
+  "total_frames": 255,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 17,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000021/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000021/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b24a5c2dfee2b6959378ffc0b924323cb23740
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000021/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033494713716208935,
+  "shear_peak": 0.0018114341655746102,
+  "force_magnitude_peak": 0.003412317018955946,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 21,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7bd6bbac7ffc9887cb085916b1be84cc377279b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020525241270661354,
+  "shear_peak": 0.0038915935438126326,
+  "force_magnitude_peak": 0.0041897110641002655,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 22,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae9c65c5f59f792c7d5d661d9d4c8d7c707126e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.033333333333333,
+  "contact_ratio": 0.9221698113207547,
+  "avg_contact_area": 6669.892583120205,
+  "contact_entropy": 0.7172990345012691,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 22,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a967a1fc66930e87e3eae4d1d06311d1bfdaff9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000022/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02549448050558567,
+  "shear_peak": 0.01006203331053257,
+  "force_magnitude_peak": 0.025587700307369232,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 22,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea2ccc020b0021c2fbeefffda2f07ecfdfc4afbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.7482758620689656,
+  "avg_contact_area": 314.4930875576037,
+  "contact_entropy": 0.05904651893053619,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 23,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cb3e16e88b704af6a681d0a04ea076994cc322
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00037722327397204936,
+  "shear_peak": 0.0019883885979652405,
+  "force_magnitude_peak": 0.0026043402031064034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 25,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b9f348f5ea4be6247f33ac4555a77401f57a4a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.3,
+  "contact_ratio": 0.7656903765690377,
+  "avg_contact_area": 2630.6939890710382,
+  "contact_entropy": 0.33376097564613355,
+  "total_frames": 717,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 26,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..73409089168d38fe166f4c266fce547e44beb573
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021738552022725344,
+  "shear_peak": 0.0024881816934794188,
+  "force_magnitude_peak": 0.0027480353601276875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 30,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7826c42c5176f8cf685674ae51effe39cc58ca0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.333333333333334,
+  "contact_ratio": 0.390625,
+  "avg_contact_area": 408.564,
+  "contact_entropy": 0.22988015238797135,
+  "total_frames": 640,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 33,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac416bd9cd5293c782c3bdcf1371e033b1d9316c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018004335463047028,
+  "shear_peak": 0.007177163381129503,
+  "force_magnitude_peak": 0.018069270998239517,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 33,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000034/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000034/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec720347e4eb083b6800ba02f5c64c483a92a80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000034/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.7923875432525952,
+  "avg_contact_area": 108.2882096069869,
+  "contact_entropy": 0.20040976839192293,
+  "total_frames": 289,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 34,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16d7a35fc2290d4bbc58d653517ac0767c644c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.41420118343195267,
+  "avg_contact_area": 803.7678571428571,
+  "contact_entropy": 0.16436627336903428,
+  "total_frames": 676,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 35,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000036/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000036/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ebe2164e3a23ff0c0cb74ce9ac9f51ebd1de19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000036/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011197136482223868,
+  "shear_peak": 0.0020854356698691845,
+  "force_magnitude_peak": 0.002262907335534692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 36,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe49ea658a52b5e7b692c6d7082ed5782de80bb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.4431818181818182,
+  "avg_contact_area": 1053.551282051282,
+  "contact_entropy": 0.2878869339118397,
+  "total_frames": 704,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 37,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000040/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000040/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..610c06eb390829f954c4322fa9beb148f85ad449
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000040/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.5960264900662252,
+  "avg_contact_area": 873.7,
+  "contact_entropy": 0.4391484916180314,
+  "total_frames": 302,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 40,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1006e9316ad745d87c99205622f6fd6cb9d37f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000698782445397228,
+  "shear_peak": 0.0022949818521738052,
+  "force_magnitude_peak": 0.0025962975341826677,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 45,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6871bdd531bee6ca9139df65503208a2f2669912
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00299714389257133,
+  "shear_peak": 0.00770912691950798,
+  "force_magnitude_peak": 0.00780216371640563,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 46,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79489ed835b545ce7adf9ea2c0aa29a14ac8918
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001876862719655037,
+  "shear_peak": 0.002005636692047119,
+  "force_magnitude_peak": 0.002162518911063671,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 47,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4a9fe27fd5acfa43102400f58992f558aaf3bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.5987261146496815,
+  "avg_contact_area": 745.1010638297872,
+  "contact_entropy": 0.8740023151751106,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 48,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb4216e5f3c41402c1460bdf7fa06cedbb3a4d2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005040204268880188,
+  "shear_peak": 0.001515940297394991,
+  "force_magnitude_peak": 0.0016386612551286817,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 50,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c0a8e0f7ceedde0a5f8d83c26426fdd2f1edda
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000050/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.7275449101796407,
+  "avg_contact_area": 149.5761316872428,
+  "contact_entropy": 0.0,
+  "total_frames": 334,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 50,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f1f815999417e85e2a30717328d429267ea1b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.8,
+  "contact_ratio": 0.453781512605042,
+  "avg_contact_area": 656.4691358024692,
+  "contact_entropy": 0.2556923387190413,
+  "total_frames": 714,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 51,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba04eddcd4c3eb3422fbe7dcf0abe160eb06cff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0044013322331011295,
+  "shear_peak": 0.0034065076615661383,
+  "force_magnitude_peak": 0.004411602858453989,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 51,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2397744e370acb34210197dd061b6ebc2a1bf44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000051/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.866666666666667,
+  "contact_ratio": 0.5826330532212886,
+  "avg_contact_area": 4125.389423076923,
+  "contact_entropy": 0.5143829545315147,
+  "total_frames": 714,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 51,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35edcaee4ceb02c2ba70d51a8c8e88ef3c21dae5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014356565661728382,
+  "shear_peak": 0.003381317248567939,
+  "force_magnitude_peak": 0.003405279479920864,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 53,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000055/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000055/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..137ad6514a64c5f2cc6d56557c980a0fd4a3869c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000055/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0058332509361207485,
+  "shear_peak": 0.004862423520535231,
+  "force_magnitude_peak": 0.007205247413367033,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 55,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f1f2ba8ac5f9feab60016e4ff171542e04fdb23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005671661347150803,
+  "shear_peak": 0.0031483503989875317,
+  "force_magnitude_peak": 0.005941382609307766,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 57,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e810d323217ad725ed7e1b593a27006bfe8965b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 0.7589928057553957,
+  "avg_contact_area": 230.36966824644549,
+  "contact_entropy": 0.2655256501441953,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 62,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000067/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000067/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01bd6cb56634dc7a74a6969ddcfb670abfe179d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000067/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.7117117117117117,
+  "avg_contact_area": 558.8,
+  "contact_entropy": 0.15038358601130836,
+  "total_frames": 555,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 67,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9bf99a51135e45c67cee717ff2f88b4a61928f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.023860199376940727,
+  "shear_peak": 0.02158345840871334,
+  "force_magnitude_peak": 0.031485557556152344,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 73,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000074/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000074/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6186aa298768e6454d57e6aeed508e416e2b8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000074/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.6176470588235294,
+  "avg_contact_area": 460.4702380952381,
+  "contact_entropy": 0.4386300840477307,
+  "total_frames": 272,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 74,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b38f4036041ef56b1827756de562c5a610f162
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.466666666666667,
+  "contact_ratio": 0.33035714285714285,
+  "avg_contact_area": 16.986486486486488,
+  "contact_entropy": 0.0,
+  "total_frames": 224,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 75,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000076/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000076/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9bc66867065901185dd7a7602df58ba6a7e2ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000076/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002085960004478693,
+  "shear_peak": 0.004723164718598127,
+  "force_magnitude_peak": 0.005153206177055836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 76,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd87685a352ac728e8007651f33549985ce65d76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.48299319727891155,
+  "avg_contact_area": 164.21830985915494,
+  "contact_entropy": 0.0,
+  "total_frames": 294,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 77,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000080/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000080/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb28afdb7afb757f75b841dfa59bf895884e4675
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000080/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.5926680244399185,
+  "avg_contact_area": 274.7147766323024,
+  "contact_entropy": 0.0,
+  "total_frames": 491,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 80,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c145ca2987b9cd001abd27b28aa3f906de0005
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003186456859111786,
+  "shear_peak": 0.002586753573268652,
+  "force_magnitude_peak": 0.0033462343271821737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 85,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1c04a59b469d03db8bfcae0a81012f8477cb6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006009394768625498,
+  "shear_peak": 0.003128468757495284,
+  "force_magnitude_peak": 0.00629733270034194,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 86,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6d1403f9f142bf75eed2596fbedaa906ddfb41
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000856122060213238,
+  "shear_peak": 0.0018853319343179464,
+  "force_magnitude_peak": 0.002056401688605547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 87,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..182935e9cb6bd6e50421394cd5c515a81e02fd12
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.0,
+  "contact_ratio": 0.7843137254901961,
+  "avg_contact_area": 436.2638888888889,
+  "contact_entropy": 0.177376372539433,
+  "total_frames": 459,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 88,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92d844f5bc2ccf505c741957817dc1eac400f04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018224645173177123,
+  "shear_peak": 0.0016062407521530986,
+  "force_magnitude_peak": 0.0018571033142507076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 90,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7f70b352ec9180a18e9f0a22e52c32fa2cd3f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000090/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.6291390728476821,
+  "avg_contact_area": 1365.721052631579,
+  "contact_entropy": 0.4226352144053447,
+  "total_frames": 302,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 90,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa23c26b8e136ae0d382fc37524ffdd22223779
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.166666666666667,
+  "contact_ratio": 0.5687830687830688,
+  "avg_contact_area": 109.0,
+  "contact_entropy": 0.0,
+  "total_frames": 378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 91,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d579330481eae9d5b94db069415ce074db4759
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015825172886252403,
+  "shear_peak": 0.0027691288851201534,
+  "force_magnitude_peak": 0.0031332310754805803,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 91,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71688eabfa95bfbcda564dcf205d8c715b770376
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000091/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.6878306878306878,
+  "avg_contact_area": 2863.9269230769232,
+  "contact_entropy": 0.34122180672491786,
+  "total_frames": 378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 91,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86a1cf4bdce856e377060555e934ba80b08216f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000685683626215905,
+  "shear_peak": 0.0017633542884141207,
+  "force_magnitude_peak": 0.001791079412214458,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 93,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000095/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000095/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a685a28f012f7afcf70d1d284aebce078ab34c15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000095/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014618654968217015,
+  "shear_peak": 0.006774659268558025,
+  "force_magnitude_peak": 0.0068326303735375404,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 95,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..798d07e3618a791f2da12346772e136db5e82935
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008450283203274012,
+  "shear_peak": 0.0018578151939436793,
+  "force_magnitude_peak": 0.0019978689961135387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 97,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c04f643efbd81effbf8c030bd946e5a01202adb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.624750499001996,
+  "avg_contact_area": 6359.297124600639,
+  "contact_entropy": 0.4492781856710784,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 102,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000107/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000107/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..634f254718367fcf97ac3527900e118edf836c05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000107/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.9,
+  "contact_ratio": 0.6493150684931507,
+  "avg_contact_area": 602.5569620253165,
+  "contact_entropy": 0.3131225941319149,
+  "total_frames": 365,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 107,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98469af790524d88b91374cad4751a712f0a0e1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006940104067325592,
+  "shear_peak": 0.0013857489684596658,
+  "force_magnitude_peak": 0.0016023293137550354,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 113,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000114/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000114/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b04581ce45bb80a946e2931df466872081071d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000114/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.933333333333334,
+  "contact_ratio": 0.9819376026272578,
+  "avg_contact_area": 3495.5083612040135,
+  "contact_entropy": 0.8589176306487913,
+  "total_frames": 609,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 114,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c82c1eabdd5729e6d510b3407fa1b5e20dcb24b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.47706422018348627,
+  "avg_contact_area": 2795.841346153846,
+  "contact_entropy": 0.6637845067036895,
+  "total_frames": 436,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 115,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000116/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000116/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b16d8ae37c3ca88b5d0aff84364af6c3c6288d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000116/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004491225816309452,
+  "shear_peak": 0.0023006806150078773,
+  "force_magnitude_peak": 0.004917188081890345,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 116,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000117/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000117/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d83db4a6e56687738ce902ba5b5e9efae5a349d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000117/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.5125,
+  "avg_contact_area": 1012.3707317073171,
+  "contact_entropy": 0.5767998751262986,
+  "total_frames": 400,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 117,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000120/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000120/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da5705bba2639fd225fecdcc4ba4e762b2bb056
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000120/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.133333333333333,
+  "contact_ratio": 0.9503311258278145,
+  "avg_contact_area": 1022.4425087108013,
+  "contact_entropy": 0.5958859116854441,
+  "total_frames": 604,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 120,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c430b15ef76a5a3e05ce871779028f345308b73d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005695432424545288,
+  "shear_peak": 0.0019579106010496616,
+  "force_magnitude_peak": 0.005738675594329834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 125,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dce84fd1662730a1a095e1be8d226a4dc1af26b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012449013302102685,
+  "shear_peak": 0.007694930303841829,
+  "force_magnitude_peak": 0.0077112410217523575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 126,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0953df645b519dde605570e6558c0b1a0a82dfa9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007083801086992025,
+  "shear_peak": 0.00438971072435379,
+  "force_magnitude_peak": 0.00709009263664484,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 127,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9cea4befd47f5ae26b2e7fbe87abf386340c712
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.8338028169014085,
+  "avg_contact_area": 1985.2364864864865,
+  "contact_entropy": 0.7219711877640799,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 128,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..723049d835caf035d84cf6be56527f0acb1481b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007004183251410723,
+  "shear_peak": 0.002038113074377179,
+  "force_magnitude_peak": 0.00702810799703002,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 130,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc84f6bd26e2af0aa1107215b4d699417674764
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000130/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.5798816568047337,
+  "avg_contact_area": 966.3928571428571,
+  "contact_entropy": 1.0576723619463653,
+  "total_frames": 338,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 130,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b01fdf5d314bea9f0bc944288b2d111aa8c090
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.933333333333334,
+  "contact_ratio": 0.7442827442827443,
+  "avg_contact_area": 4413.245810055866,
+  "contact_entropy": 0.9886145853915846,
+  "total_frames": 481,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 131,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d3b13205a26ce923ea911374a8a28c9158f88b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013423076830804348,
+  "shear_peak": 0.0031582992523908615,
+  "force_magnitude_peak": 0.013446682132780552,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 131,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aedc26a1d01519cdbfe3022cd2c81e4f6f813b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000131/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.5571725571725572,
+  "avg_contact_area": 400.71268656716416,
+  "contact_entropy": 0.0,
+  "total_frames": 481,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 131,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d6b466e4354d58a568495a0abc260a9e58a261f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012352487538009882,
+  "shear_peak": 0.005923574790358543,
+  "force_magnitude_peak": 0.00598501181229949,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 133,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000135/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000135/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f98f43760d0fcf400968849b4e341c71af0b3d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000135/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006964789354242384,
+  "shear_peak": 0.005794007331132889,
+  "force_magnitude_peak": 0.005840741563588381,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 135,
+  "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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0066d6e9e10951329081f427a8b86239479c12f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.3575268817204301,
+  "avg_contact_area": 217.0751879699248,
+  "contact_entropy": 0.0,
+  "total_frames": 372,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000147/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000147/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c59e50f69e34f4113b58dc26681e3fae48c8734
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000147/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.6506329113924051,
+  "avg_contact_area": 2656.272373540856,
+  "contact_entropy": 1.0887043811790535,
+  "total_frames": 395,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 147,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file