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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 7,
+  "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/ep000010/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/ep000010/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65654c0fd23dd8fe4511339878d6e242eecb5db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000010/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.466666666666667,
+  "contact_ratio": 0.8322981366459627,
+  "avg_contact_area": 1565.6492537313434,
+  "contact_entropy": 0.41846820339512647,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 10,
+  "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/ep000012/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/ep000012/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca12972c43c9f7e5d9c1de64249e1fa13d5b8d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000012/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001435294863767922,
+  "shear_peak": 0.000988759333267808,
+  "force_magnitude_peak": 0.002699973527342081,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000013/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/ep000013/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3647bdf79c69bb5c66445b758dd3569c32e08166
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000013/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036117734853178263,
+  "shear_peak": 0.0031256387010216713,
+  "force_magnitude_peak": 0.004555700812488794,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 13,
+  "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/ep000013/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/ep000013/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..998e81f33bdda6f19659d9913ab44c998a204876
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000013/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.7272727272727273,
+  "avg_contact_area": 7540.4473684210525,
+  "contact_entropy": 0.5207181385520785,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 13,
+  "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/ep000015/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/ep000015/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb2e9b8346b3c6324ab4f83db1fd3e57d32b844
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000015/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.882051282051282,
+  "avg_contact_area": 7772.9011627906975,
+  "contact_entropy": 0.577861110771623,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 15,
+  "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/ep000018/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/ep000018/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba8d53bc9a319fb1ec515158460bbf6f8cb8455
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000018/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6,
+  "contact_ratio": 0.6467065868263473,
+  "avg_contact_area": 1989.5092592592594,
+  "contact_entropy": 0.018082025694747865,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 18,
+  "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/ep000021/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/ep000021/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb9ca5ff5cefb6112031892fd9a34e0a759093c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000021/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016453677089884877,
+  "shear_peak": 0.0017117309616878629,
+  "force_magnitude_peak": 0.0017120563425123692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 21,
+  "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/ep000021/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/ep000021/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8b9a3f89c374a95ffb62649eea68857c514cb23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000021/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017595372628420591,
+  "shear_peak": 0.004146129358559847,
+  "force_magnitude_peak": 0.004441887140274048,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000024/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/ep000024/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f31b626e6bb3ba348836143fbb678b396b2ed5a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000024/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.666666666666667,
+  "contact_ratio": 0.8695652173913043,
+  "avg_contact_area": 565.76,
+  "contact_entropy": 0.020142571427236813,
+  "total_frames": 230,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 24,
+  "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/ep000026/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/ep000026/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb34ecf47ebc7744b94fc4da43c847d84ec8ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000026/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012085932539775968,
+  "shear_peak": 0.0015902167651802301,
+  "force_magnitude_peak": 0.0026791023556143045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000029/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/ep000029/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2abb71e6b4621fad42ffae8250f83e85497a1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000029/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019721430726349354,
+  "shear_peak": 0.002733009634539485,
+  "force_magnitude_peak": 0.002807779237627983,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 29,
+  "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/ep000034/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/ep000034/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0dd77e13b01fd3cfbccb5d57753b4fb8474b7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000034/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.666666666666667,
+  "contact_ratio": 0.74235807860262,
+  "avg_contact_area": 5069.34705882353,
+  "contact_entropy": 0.16769123381257922,
+  "total_frames": 229,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 34,
+  "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/ep000035/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/ep000035/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ace58589671e3963f0c75968da6a7af082a306
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000035/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030163652263581753,
+  "shear_peak": 0.003567417850717902,
+  "force_magnitude_peak": 0.004032319411635399,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 35,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000037/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/ep000037/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e27fe01c246beca0e3ed7c43f6be95fc641da6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000037/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013043235521763563,
+  "shear_peak": 0.0016262986464425921,
+  "force_magnitude_peak": 0.002120452467352152,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000037/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/ep000037/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5188e12814349a4ae1d4a1fb93cef5619f4ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000037/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.4,
+  "contact_ratio": 0.6804123711340206,
+  "avg_contact_area": 1273.219696969697,
+  "contact_entropy": 0.5520819391317852,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 37,
+  "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/ep000041/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/ep000041/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b9aaa6d865f839f22f8434d46f3be964579df0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000041/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.8333333333333334,
+  "avg_contact_area": 4110.852631578948,
+  "contact_entropy": 0.38842055792201896,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 41,
+  "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/ep000041/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/ep000041/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..305436901cee7b07e8f2232b8ac0f099a11d7ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000041/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007979476358741522,
+  "shear_peak": 0.001930409693159163,
+  "force_magnitude_peak": 0.00438198447227478,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 41,
+  "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/ep000042/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/ep000042/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5699f86df30b1136e021efc4faac9dbba8db19d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000042/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7256637168141593,
+  "avg_contact_area": 1596.8597560975609,
+  "contact_entropy": 0.029864265967517657,
+  "total_frames": 226,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 42,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000050/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/ep000050/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f77202aade80ade14cc225016218e16523a4adb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000050/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.728448275862069,
+  "avg_contact_area": 3258.076923076923,
+  "contact_entropy": 0.2497353323329257,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000052/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/ep000052/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec6a65ce0e35b82a03d1b927bbc03ab81e1a9f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000052/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.84375,
+  "avg_contact_area": 1635.5,
+  "contact_entropy": 0.29322185838046,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 52,
+  "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/ep000054/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/ep000054/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5476ed30cace9fb12de89254f0b79f17ae69df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000054/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022380833979696035,
+  "shear_peak": 0.002093575894832611,
+  "force_magnitude_peak": 0.005401161964982748,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 54,
+  "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/ep000054/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/ep000054/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a697a57512db0fb820185ef16adcbf1fbad47782
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000054/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.6,
+  "contact_ratio": 0.8284518828451883,
+  "avg_contact_area": 6620.363636363636,
+  "contact_entropy": 0.456110220153251,
+  "total_frames": 239,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 54,
+  "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/ep000054/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/ep000054/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82416cc6bdadd7892a84ac33a6b319fdf4b291fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000054/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006511971820145845,
+  "shear_peak": 0.0023393668234348297,
+  "force_magnitude_peak": 0.006919423118233681,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 54,
+  "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/ep000059/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/ep000059/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bf125bb0f293e86998bb5766fb7b03188c9ed8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000059/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00048671808326616883,
+  "shear_peak": 0.0023849341087043285,
+  "force_magnitude_peak": 0.0028669775929301977,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 59,
+  "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/ep000061/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/ep000061/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..181433197b69a8beda1663ca814ddca6b8967fea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000061/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0040530553087592125,
+  "shear_peak": 0.0013017442543059587,
+  "force_magnitude_peak": 0.004120194353163242,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 61,
+  "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/ep000061/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/ep000061/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4942955f13f77860d74e5feb47912a5413dd2d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000061/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013501632492989302,
+  "shear_peak": 0.0022079660557210445,
+  "force_magnitude_peak": 0.002555030630901456,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 61,
+  "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/ep000064/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/ep000064/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..484aacf1992b8c02f593a63ed16ba74cf61d0174
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000064/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.966666666666667,
+  "contact_ratio": 0.8818565400843882,
+  "avg_contact_area": 4870.593301435407,
+  "contact_entropy": 0.16877109109703103,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 64,
+  "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/ep000066/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/ep000066/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4b79de7d8a0ca8c5ae4a48dcd036a4bd7814c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000066/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.966666666666667,
+  "contact_ratio": 0.8403755868544601,
+  "avg_contact_area": 2374.4804469273745,
+  "contact_entropy": 0.16063527158387603,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 66,
+  "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/ep000070/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/ep000070/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e2276845e68284a21d071b71cf9e9c5f4efed35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000070/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01020075287669897,
+  "shear_peak": 0.004110688343644142,
+  "force_magnitude_peak": 0.010351667180657387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 70,
+  "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/ep000071/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/ep000071/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0776a3b30acff2fd33a78d09725db7fdb40e88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000071/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.7448559670781894,
+  "avg_contact_area": 2923.6187845303866,
+  "contact_entropy": 0.0021771874861323467,
+  "total_frames": 243,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 71,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000072/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/ep000072/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efc5edd76bf47e00cb50a3d36be1e907a93c2f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000072/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026983958669006824,
+  "shear_peak": 0.004339383915066719,
+  "force_magnitude_peak": 0.004354389384388924,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 72,
+  "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/ep000074/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/ep000074/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91555dfda1e19bc82f6d68251d7749f2024cfcdf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000074/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035127021837979555,
+  "shear_peak": 0.004271715879440308,
+  "force_magnitude_peak": 0.005526431370526552,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 74,
+  "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/ep000075/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/ep000075/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc26bc6570e43f7aff07c1de36a7cde71671ebf9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000075/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.7445887445887446,
+  "avg_contact_area": 1111.2790697674418,
+  "contact_entropy": 0.004946639037958281,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 75,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000075/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/ep000075/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e974fdd28b891a2d6885bc58c181e16741d70d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000075/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001974942861124873,
+  "shear_peak": 0.003392857266589999,
+  "force_magnitude_peak": 0.0040065329521894455,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 75,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000079/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/ep000079/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd34dc59a4dce53abe5f4afbb64b56f0e898568
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000079/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.6810810810810811,
+  "avg_contact_area": 4715.984126984127,
+  "contact_entropy": 0.35180940840975994,
+  "total_frames": 185,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 79,
+  "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/ep000081/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/ep000081/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4781269744eac9c2e15d4437f640da6e2368789a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000081/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7972350230414746,
+  "avg_contact_area": 8094.43352601156,
+  "contact_entropy": 0.3247475340282503,
+  "total_frames": 217,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 81,
+  "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/ep000081/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/ep000081/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e16709664fa66957f675806cc32324e1099352
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000081/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00611950783059001,
+  "shear_peak": 0.005699719302356243,
+  "force_magnitude_peak": 0.007612582761794329,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 81,
+  "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/ep000082/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/ep000082/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e62afba783de71735b8c35304b9ac6f07160302
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000082/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.8841698841698842,
+  "avg_contact_area": 11228.192139737992,
+  "contact_entropy": 0.7201887874728823,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 82,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000090/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/ep000090/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d075ad6dbb5e1ea243df4c65adc2f048ba9ddfa9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000090/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.8935361216730038,
+  "avg_contact_area": 8957.27659574468,
+  "contact_entropy": 0.5065652481106293,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000092/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/ep000092/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c3acf9c9a9c0e073cfca893249c02f93467c348
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000092/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.033333333333333,
+  "contact_ratio": 0.8310344827586207,
+  "avg_contact_area": 9595.29460580913,
+  "contact_entropy": 0.8216085447183862,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 92,
+  "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/ep000094/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/ep000094/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b43335c491f227f2129ac1dc87c6e233fd750f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000094/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012549497187137604,
+  "shear_peak": 0.005104543175548315,
+  "force_magnitude_peak": 0.013368302956223488,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 94,
+  "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/ep000094/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/ep000094/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5231129f17bf0bd345dce7ed6b17e9b3423b8de
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000094/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.753968253968254,
+  "avg_contact_area": 11644.926315789473,
+  "contact_entropy": 0.6024572776960202,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 94,
+  "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/ep000094/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/ep000094/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9747566d35704a9b207000e73c508af3a98b25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000094/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014859069138765335,
+  "shear_peak": 0.006800168659538031,
+  "force_magnitude_peak": 0.015539836138486862,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 94,
+  "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/ep000099/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/ep000099/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85779e6c855bf80d8f155ab95bb44ea8bbb826a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000099/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017475755885243416,
+  "shear_peak": 0.001775580458343029,
+  "force_magnitude_peak": 0.0018497076816856861,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 99,
+  "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/ep000101/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/ep000101/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c7accd6a61038a055f0c9c43b39395468f33ed9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000101/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0070160976611077785,
+  "shear_peak": 0.0022782785817980766,
+  "force_magnitude_peak": 0.0070297992788255215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 101,
+  "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/ep000101/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/ep000101/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1479c5c07ac77df1a835ff53041d533ad5509c6f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000101/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001970246434211731,
+  "shear_peak": 0.0016492388676851988,
+  "force_magnitude_peak": 0.003020943608134985,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 101,
+  "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/ep000104/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/ep000104/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6df3e3e7b6c569fb184298dace2d1d67b4d68d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000104/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.8762376237623762,
+  "avg_contact_area": 9217.926553672316,
+  "contact_entropy": 0.7010907047053532,
+  "total_frames": 202,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 104,
+  "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/ep000106/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/ep000106/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f870ab52003c486542e5324415748ebf1ad627ee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000106/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.7630331753554502,
+  "avg_contact_area": 696.6708074534162,
+  "contact_entropy": 0.0038851464991001973,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 106,
+  "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/ep000110/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/ep000110/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c84bf366e5c46db23afd74f2a314fc027d8b77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000110/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004538876935839653,
+  "shear_peak": 0.008482202887535095,
+  "force_magnitude_peak": 0.009280778467655182,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 110,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000111/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/ep000111/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4853257065172ca227ca966599e67fc5bf7db88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000111/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.7255813953488373,
+  "avg_contact_area": 2556.8846153846152,
+  "contact_entropy": 0.272249553006371,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 111,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000112/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/ep000112/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..446fc0b1d98651f759417ad4413aa730344b8f69
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000112/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004358609672635794,
+  "shear_peak": 0.0030111130326986313,
+  "force_magnitude_peak": 0.004937389399856329,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 112,
+  "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/ep000114/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/ep000114/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c27686272067581c7fc58102bf28e662dcb03444
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000114/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005158746615052223,
+  "shear_peak": 0.0016660630935803056,
+  "force_magnitude_peak": 0.005421109963208437,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 114,
+  "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/ep000115/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/ep000115/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3659748351872f7b2bc9a14e5244486f15c88915
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000115/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.566666666666667,
+  "contact_ratio": 0.7642857142857142,
+  "avg_contact_area": 569.7757009345794,
+  "contact_entropy": 0.05306691116505898,
+  "total_frames": 140,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000115/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/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae60d2424d13857399611111b311eae892f227a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005565174506045878,
+  "shear_peak": 0.0013364325277507305,
+  "force_magnitude_peak": 0.0013400923926383257,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000119/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/ep000119/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..475766f5af432661b0330108200f5c83c8d7d842
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000119/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.066666666666666,
+  "contact_ratio": 0.7672955974842768,
+  "avg_contact_area": 7077.819672131148,
+  "contact_entropy": 1.0319622477851882,
+  "total_frames": 159,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 119,
+  "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/ep000121/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/ep000121/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca79b8593d0d6c728a5e974167fecca3fc8ec5a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000121/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.8385416666666666,
+  "avg_contact_area": 2309.086956521739,
+  "contact_entropy": 0.1960434587432786,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 121,
+  "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/ep000121/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/ep000121/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bedc3467c1e6f6759eba8fce200cf65539ec4f1c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000121/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025126647669821978,
+  "shear_peak": 0.002286916133016348,
+  "force_magnitude_peak": 0.002884991466999054,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 121,
+  "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/ep000122/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/ep000122/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c5712cee4ff0ef60c9bd9f06135f4d8e649462e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000122/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.5,
+  "contact_ratio": 0.8418367346938775,
+  "avg_contact_area": 734.9151515151515,
+  "contact_entropy": 0.0,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 122,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000130/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/ep000130/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..edfcaa50b401562a159fd44f0feb103d168c6b0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000130/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.651685393258427,
+  "avg_contact_area": 2975.698275862069,
+  "contact_entropy": 0.0377536424462939,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000132/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/ep000132/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7808b070e1154f7e0debabcbf20752ae29df1c62
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000132/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.7019230769230769,
+  "avg_contact_area": 1232.6575342465753,
+  "contact_entropy": 0.11941739222732706,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 132,
+  "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/ep000134/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/ep000134/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de16368fdc7ed1f05ed3a30944fe8c9b998bf253
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000134/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0042196642607450485,
+  "shear_peak": 0.0030165608040988445,
+  "force_magnitude_peak": 0.00432549836114049,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 134,
+  "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/ep000134/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/ep000134/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ba9e16e85eacb3f0b8c4783b1a0b3301d067e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000134/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.966666666666667,
+  "contact_ratio": 0.6761363636363636,
+  "avg_contact_area": 2292.294117647059,
+  "contact_entropy": 0.27559787382355955,
+  "total_frames": 176,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 134,
+  "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/ep000134/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/ep000134/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a596d5737d513195fccae0b867937a2859de226
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000134/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003958528861403465,
+  "shear_peak": 0.0012733425246551633,
+  "force_magnitude_peak": 0.004017525818198919,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 134,
+  "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/ep000139/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/ep000139/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..842ae7a647edd8bd7b86f1e3d31bbf433d8ab488
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000139/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020639547146856785,
+  "shear_peak": 0.003919512499123812,
+  "force_magnitude_peak": 0.00392099330201745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 139,
+  "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/ep000141/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/ep000141/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd9144891b25c7ec617ddb159e1c0b856de4eca8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000141/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00894671306014061,
+  "shear_peak": 0.0015345821157097816,
+  "force_magnitude_peak": 0.008946805261075497,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 141,
+  "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/ep000141/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/ep000141/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b86b592e9d2f7e819241f163572d145c51d132c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000141/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021120209712535143,
+  "shear_peak": 0.001450532115995884,
+  "force_magnitude_peak": 0.002112151123583317,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 141,
+  "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/ep000144/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/ep000144/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc42cbf6b694aeffccc136d67d337d3ff45b948
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000144/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.266666666666667,
+  "contact_ratio": 0.7071823204419889,
+  "avg_contact_area": 1949.296875,
+  "contact_entropy": 0.38682770482818496,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 144,
+  "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/ep000146/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/ep000146/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5d5b6f9da13792d4ee77af211e389c5ca3c5f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000146/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.8159509202453987,
+  "avg_contact_area": 3079.218045112782,
+  "contact_entropy": 0.04026549039281481,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 146,
+  "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/ep000150/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/ep000150/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f63e0314176aa519bb39202de970e4d28504ca5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000150/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015865591121837497,
+  "shear_peak": 0.0036708125844597816,
+  "force_magnitude_peak": 0.003844405757263303,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 150,
+  "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/ep000151/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/ep000151/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fae7f771c16da2fa3ea9dcfd986bf65b72dd0b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000151/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.8192771084337349,
+  "avg_contact_area": 5956.867647058823,
+  "contact_entropy": 0.2864152650957142,
+  "total_frames": 166,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 151,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000152/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/ep000152/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df42f3942a1d0f546390ac9250f6e79ab8a7d2ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000152/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013379544019699097,
+  "shear_peak": 0.004198648035526276,
+  "force_magnitude_peak": 0.01370000746101141,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 152,
+  "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/ep000154/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/ep000154/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..025fe923a41b278dce5f4e9cde46653864ad9ba5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000154/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00033062970032915473,
+  "shear_peak": 0.0030652759596705437,
+  "force_magnitude_peak": 0.0035380874760448933,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 154,
+  "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/ep000155/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/ep000155/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db1cb61b481466ed35e2136ff9d0a4c4ebfd3b06
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000155/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.7211538461538461,
+  "avg_contact_area": 3297.866666666667,
+  "contact_entropy": 0.5065447639580385,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000155/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/ep000155/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf2fda50aa34316439f09bb75fcf46b94d55bc6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000155/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005511539988219738,
+  "shear_peak": 0.005936185363680124,
+  "force_magnitude_peak": 0.008100331760942936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000159/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/ep000159/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7029bf82f6067020895c138a3575ecfe6edcd427
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000159/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.7569444444444444,
+  "avg_contact_area": 4489.165137614679,
+  "contact_entropy": 0.22544576327844676,
+  "total_frames": 144,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 159,
+  "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/ep000161/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/ep000161/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..331e3218c77457d5334c471bab3e4ef2f0438ed9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000161/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.7096774193548387,
+  "avg_contact_area": 3034.9220779220777,
+  "contact_entropy": 0.19003732648034993,
+  "total_frames": 217,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 161,
+  "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/ep000161/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/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2536477e7c273bebec42f6f09f8ff547771e2f5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0057881977409124374,
+  "shear_peak": 0.0015518482541665435,
+  "force_magnitude_peak": 0.005899224430322647,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 161,
+  "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/ep000162/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/ep000162/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a16ecc0ad895539ac78d3c91ca35e3869989e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000162/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.9,
+  "contact_ratio": 0.7101449275362319,
+  "avg_contact_area": 1894.5986394557824,
+  "contact_entropy": 0.0461083378575947,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 162,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000170/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/ep000170/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bc166926964ecf5755259733d6c96c50ab83033
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000170/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.7791411042944786,
+  "avg_contact_area": 5300.622047244095,
+  "contact_entropy": 0.5786657079178363,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 170,
+  "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/ep000172/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/ep000172/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b23edda75a839205ff9a5f4d3e4d325731d88e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000172/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.7107843137254902,
+  "avg_contact_area": 881.1310344827587,
+  "contact_entropy": 0.13253362290214135,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 172,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000174/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/ep000174/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc9f02154e95dae53a62e905ed646cdb9e6aea1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000174/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0046086437068879604,
+  "shear_peak": 0.0013911041896790266,
+  "force_magnitude_peak": 0.0047486103139817715,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 174,
+  "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/ep000174/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/ep000174/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8066745acb2ba07362db1c67cbfc9f7bd4139e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000174/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.650887573964497,
+  "avg_contact_area": 1721.7727272727273,
+  "contact_entropy": 0.0,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 174,
+  "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/ep000174/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/ep000174/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c8f7ec39848062314d810c255c1e83632e456b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000174/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015459232963621616,
+  "shear_peak": 0.002878897124901414,
+  "force_magnitude_peak": 0.0034150222782045603,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 174,
+  "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/ep000179/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/ep000179/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed750465441bb9a9747886a100b7d773ec6137b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000179/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007326309569180012,
+  "shear_peak": 0.0013902689097449183,
+  "force_magnitude_peak": 0.0016738949343562126,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 179,
+  "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/ep000181/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/ep000181/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28d4bba9f77b360643f6f52bdc68898a0e5c3df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000181/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008617406710982323,
+  "shear_peak": 0.003881176933646202,
+  "force_magnitude_peak": 0.009320060722529888,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 181,
+  "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/ep000181/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/ep000181/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1231835823a7e1ef307072356622181af55008b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000181/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011994063388556242,
+  "shear_peak": 0.0045150271616876125,
+  "force_magnitude_peak": 0.004575059283524752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 181,
+  "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/ep000184/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/ep000184/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8776a85a7097e6985ee55d26a07403d0ff114b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000184/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.6569767441860465,
+  "avg_contact_area": 1017.1327433628319,
+  "contact_entropy": 0.2088676322409917,
+  "total_frames": 172,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 184,
+  "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/ep000186/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/ep000186/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..969a6aa63d610e8b9f4450ea794f44a2fa6bf339
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000186/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.7350427350427351,
+  "avg_contact_area": 1589.6511627906978,
+  "contact_entropy": 0.08488535434282633,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 186,
+  "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/ep000190/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/ep000190/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbaaecdc0e23c9eece2a26086df6c9c9b020f73f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000190/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0046298750676214695,
+  "shear_peak": 0.002037405502051115,
+  "force_magnitude_peak": 0.005031552165746689,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 190,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000191/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/ep000191/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..891ce58d712ef0ebfd015d51cf8bc4bf12740d11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000191/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.7352941176470589,
+  "avg_contact_area": 6292.72,
+  "contact_entropy": 0.5021258597944619,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 191,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000192/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/ep000192/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81bcbd8b42b4488cfbce3c3a922ef01d4a3f8b93
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000192/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012051642872393131,
+  "shear_peak": 0.0022088182158768177,
+  "force_magnitude_peak": 0.012242857366800308,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 192,
+  "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/ep000194/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/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6874a997b5c1e66815e598b2b840fa45d3fea23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014454526826739311,
+  "shear_peak": 0.0029754231218248606,
+  "force_magnitude_peak": 0.004654451739042997,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 194,
+  "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/ep000195/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/ep000195/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7144f56c535ef91bb9014cc25f8980e30d4ab4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000195/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.6488095238095238,
+  "avg_contact_area": 1165.4036697247707,
+  "contact_entropy": 0.06159641348332893,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 195,
+  "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/ep000195/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/ep000195/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a197ffa071699365ba408e8addd455ff717aa26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000195/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034412797540426254,
+  "shear_peak": 0.0022494145669043064,
+  "force_magnitude_peak": 0.004111237358301878,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 195,
+  "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/ep000199/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/ep000199/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9811fb55b2a4b9d8e4b42a52982abdaa096cd2c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000199/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.4,
+  "contact_ratio": 0.6875,
+  "avg_contact_area": 7412.007575757576,
+  "contact_entropy": 0.7115676475495556,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 199,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000201/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/ep000201/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7263cc05c6a87f8c9d50368834e406e530f141c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000201/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.5,
+  "contact_ratio": 0.8418367346938775,
+  "avg_contact_area": 5759.018181818182,
+  "contact_entropy": 0.38317072228156485,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000201/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/ep000201/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46528c673c5b57acbcad604828e96278b398e7ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000201/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005837103817611933,
+  "shear_peak": 0.004433671943843365,
+  "force_magnitude_peak": 0.005986412055790424,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000210/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/ep000210/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c42a755269a38d0ccf2df604a53c20bf387fd5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000210/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.066666666666666,
+  "contact_ratio": 0.8026315789473685,
+  "avg_contact_area": 2936.5163934426228,
+  "contact_entropy": 0.6285366474098351,
+  "total_frames": 152,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 210,
+  "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/ep000214/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/ep000214/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae0eb0f4e67a2b3eb6ce3184da72bab85e9e821
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000214/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005869156681001186,
+  "shear_peak": 0.0015810795594006777,
+  "force_magnitude_peak": 0.005929416511207819,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 214,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000221/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/ep000221/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dbbdb994d78734e90f1adf54096c276404a03ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000221/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00018345133867114782,
+  "shear_peak": 0.0009771469049155712,
+  "force_magnitude_peak": 0.0014813035959377885,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 221,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000224/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/ep000224/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66ae0e1dece46b678bbddeec446dec365e2a8d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000224/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.6333333333333333,
+  "contact_ratio": 0.5563380281690141,
+  "avg_contact_area": 657.0632911392405,
+  "contact_entropy": 0.0,
+  "total_frames": 142,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 224,
+  "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/ep000226/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/ep000226/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00dcc4e67d8a80cb3c95010fa42558060637d133
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000226/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.6480446927374302,
+  "avg_contact_area": 6706.2155172413795,
+  "contact_entropy": 0.32933521327327125,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 226,
+  "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/ep000231/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/ep000231/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9daab51e76ab417cce2c5ba33d5a7e43eebbeb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000231/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.7468354430379747,
+  "avg_contact_area": 1790.1129943502824,
+  "contact_entropy": 0.06160512273933395,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 231,
+  "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/ep000232/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/ep000232/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32678590e94e5172deb2144e9dd5c671067d5ea0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000232/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029184797313064337,
+  "shear_peak": 0.0018067355267703533,
+  "force_magnitude_peak": 0.0034147759433835745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 232,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000234/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/ep000234/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..387c6f9f08a77556fcab3d2ff801858e40365c13
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000234/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012116484576836228,
+  "shear_peak": 0.003386114025488496,
+  "force_magnitude_peak": 0.003628619248047471,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 234,
+  "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/ep000239/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/ep000239/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..493b1848e70ccaa75af8e99c26a51c20a2584636
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000239/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.8159509202453987,
+  "avg_contact_area": 10769.857142857143,
+  "contact_entropy": 0.32243299141114123,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 239,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file