diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000112/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000112/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4693e4fb18aa60a0a327781edfa92217b0d49b23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000112/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.5,
+  "contact_ratio": 0.5769230769230769,
+  "avg_contact_area": 253.1809523809524,
+  "contact_entropy": 0.005064805955167477,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 112,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac0e01ef1ff55baae5b621e75caa80ea3796605
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.8,
+  "contact_ratio": 0.7422680412371134,
+  "avg_contact_area": 5785.763888888889,
+  "contact_entropy": 0.5275792484973211,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000117/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000117/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a014752e56a276a10479d37aa0a149d33cd59f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000117/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.0,
+  "contact_ratio": 0.0,
+  "avg_contact_area": 0.0,
+  "contact_entropy": 0.0,
+  "total_frames": 154,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 117,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000121/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000121/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec0b6576380cd52844553d5d9969223681d7015
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000121/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008830679580569267,
+  "shear_peak": 0.002413494046777487,
+  "force_magnitude_peak": 0.002550618490204215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 121,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a722b0ad747a91a0d1bbab77d4b07a42973e2443
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006343485438264906,
+  "shear_peak": 0.0024247877299785614,
+  "force_magnitude_peak": 0.0030749249272048473,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 124,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d9b7c8af1f234cc5e1fa08b4055b8416d40727
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0001631119375815615,
+  "shear_peak": 0.0018615744775161147,
+  "force_magnitude_peak": 0.002116575138643384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 125,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96c23f371e7b50104badc18ccfcc7ccf074fc9ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010271549690514803,
+  "shear_peak": 0.0019816113635897636,
+  "force_magnitude_peak": 0.0022613215260207653,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 126,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..512b8bbeebd3a92f8c795f0f92ae2330090f1bb0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006098535377532244,
+  "shear_peak": 0.001022141077555716,
+  "force_magnitude_peak": 0.0061029838398098946,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 130,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000133/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000133/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28671f7fa772caf36ca741f446cae8bf07d74cfc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000133/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.1,
+  "contact_ratio": 0.42,
+  "avg_contact_area": 535.4761904761905,
+  "contact_entropy": 0.13627927738000908,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 133,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000136/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000136/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6aa674bcd883f4688dd2caf0ae9fcf519e82df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000136/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00013334713003132492,
+  "shear_peak": 0.0015545416390523314,
+  "force_magnitude_peak": 0.00225835177116096,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 136,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df26823417b7bbb1b2871d2420c640e898243df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.366666666666666,
+  "contact_ratio": 0.5350140056022409,
+  "avg_contact_area": 4316.298429319371,
+  "contact_entropy": 0.5104830988645749,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 143,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..300690af7c00d76eb6565e1f04d3e9f90f06fd54
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0048698438331484795,
+  "shear_peak": 0.0023086355067789555,
+  "force_magnitude_peak": 0.005335280671715736,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 144,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7baa449726e535f4b3fe72bba921c25c69ea34db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.5,
+  "contact_ratio": 0.21634615384615385,
+  "avg_contact_area": 14.022222222222222,
+  "contact_entropy": 0.0,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 152,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36655aaa02a2f66ec9b763f583febd90f7be2ece
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.3458333333333333,
+  "avg_contact_area": 17.072289156626507,
+  "contact_entropy": 0.0,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f612ae0c34c80f4c5e84dcd8959b73fb91a578
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.8826086956521739,
+  "avg_contact_area": 1856.1182266009853,
+  "contact_entropy": 0.00010144190152963502,
+  "total_frames": 230,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 157,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9820e3791ae39022df96508e47880854b2db3ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013282119762152433,
+  "shear_peak": 0.0017499842215329409,
+  "force_magnitude_peak": 0.0018241812940686941,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 158,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000159/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000159/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10d21c48f5659171889e2f4d38e7a93bb7205f73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000159/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.7419354838709677,
+  "avg_contact_area": 788.2270531400966,
+  "contact_entropy": 0.36453013061340345,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 159,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ca2cb53775bf0e439f9d1dcf3da0e2b25f4b8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002757966285571456,
+  "shear_peak": 0.003629930317401886,
+  "force_magnitude_peak": 0.0036804687697440386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 161,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..becff91d19b2da43a761967991fded3c913a7e3d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004178195726126432,
+  "shear_peak": 0.0024998122826218605,
+  "force_magnitude_peak": 0.004393376875668764,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 162,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86772cbe69394919f46872ae141b2bb91e2630d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00017886352725327015,
+  "shear_peak": 0.0017156145768240094,
+  "force_magnitude_peak": 0.0017254111589863896,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 164,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000165/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000165/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3d837312b2ae01483b9af22715b8318f2b7f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000165/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010541314259171486,
+  "shear_peak": 0.00932131614536047,
+  "force_magnitude_peak": 0.009642494842410088,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 165,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000166/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000166/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ee3624141e4b0e15c66df6d2c3a363dc8dc765
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000166/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00016663050337228924,
+  "shear_peak": 0.001616144203580916,
+  "force_magnitude_peak": 0.002120462479069829,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 166,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000169/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000169/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c756f1c3bc84423706742d976e3a2789e37acc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000169/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.8257261410788381,
+  "avg_contact_area": 1891.8793969849246,
+  "contact_entropy": 0.27299868633131014,
+  "total_frames": 241,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 169,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000170/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000170/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9077414f6da7389c760792b0101df404f1562599
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000170/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018622820498421788,
+  "shear_peak": 0.004145571030676365,
+  "force_magnitude_peak": 0.00416862266138196,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 170,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eaffb241fe88179568aa2cf29c46c46f90ad4b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.7973568281938326,
+  "avg_contact_area": 1479.5027624309391,
+  "contact_entropy": 0.6772503317591942,
+  "total_frames": 227,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 171,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000173/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000173/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f8bfbed82271ade42dac74a9390019d9e861e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000173/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.0666666666666667,
+  "contact_ratio": 0.15920398009950248,
+  "avg_contact_area": 919.96875,
+  "contact_entropy": 0.0,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 173,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000174/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000174/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc672d33684ebe8a7ef411fa0c4578af7695bca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000174/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014884474221616983,
+  "shear_peak": 0.0008060800028033555,
+  "force_magnitude_peak": 0.0015049941139295697,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 174,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bc0da9aa2909b8e411f330d3f1c12ccf815b2cf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037022524047642946,
+  "shear_peak": 0.0022679297253489494,
+  "force_magnitude_peak": 0.004323895089328289,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 176,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5eef92880fccd4c15af3f121dac00555dfecc28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.033333333333333,
+  "contact_ratio": 0.305,
+  "avg_contact_area": 30.934426229508198,
+  "contact_entropy": 0.0,
+  "total_frames": 200,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 178,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000180/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000180/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac866cbf37ba25a91b386358f0e11c9cacf378e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000180/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.1,
+  "contact_ratio": 0.32114882506527415,
+  "avg_contact_area": 178.4471544715447,
+  "contact_entropy": 0.0,
+  "total_frames": 383,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 180,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3977d1aee5f7cb4323c9aabee5540e68b5ebff7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.5,
+  "contact_ratio": 0.8904109589041096,
+  "avg_contact_area": 5183.215384615384,
+  "contact_entropy": 0.7371094068180056,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 183,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c7b7b79a29c0ce405dd8a407d8096f12ef77ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013237870298326015,
+  "shear_peak": 0.002091103931888938,
+  "force_magnitude_peak": 0.0021167215891182423,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 184,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de1206236cea7af3eb789101c27c3ceb94d192e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.7,
+  "contact_ratio": 0.7744807121661721,
+  "avg_contact_area": 6213.088122605364,
+  "contact_entropy": 0.5517550217412658,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 192,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe3d073a4ed7406945c3a6fec8134f375ccbc79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.5570469798657718,
+  "avg_contact_area": 10020.783132530121,
+  "contact_entropy": 0.009430689955215336,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 195,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39931305b96c7abef338a72dfcf6cb5c679c64c7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.7142857142857143,
+  "avg_contact_area": 9411.961538461539,
+  "contact_entropy": 0.43533056677979576,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 197,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43eeef8b95ab8c94bc61ced5174f30b9069d7c52
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001752105657942593,
+  "shear_peak": 0.004396438132971525,
+  "force_magnitude_peak": 0.0044783372431993484,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 198,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000199/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000199/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..965ce7f4e3098f9684f037a4e0b4d08693563170
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000199/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.583864118895966,
+  "avg_contact_area": 2321.807272727273,
+  "contact_entropy": 0.5232227902601221,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 199,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feae74eaaacc867d2b401d825c4bbb1d09e257dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006382797844707966,
+  "shear_peak": 0.008022360503673553,
+  "force_magnitude_peak": 0.008552788756787777,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66928f92159bf8e244f6d37b559fc9d3942041ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001563711673952639,
+  "shear_peak": 0.0028466626536101103,
+  "force_magnitude_peak": 0.0032113834749907255,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 202,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b321237b5df11d0fb11ce5e38d4d1a361f471e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009135521948337555,
+  "shear_peak": 0.0023232547100633383,
+  "force_magnitude_peak": 0.009251791052520275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 204,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000205/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000205/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e0bd7dea2e50d98ce3eb8044e24f3a5c02b3c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000205/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004288028459995985,
+  "shear_peak": 0.006497442256659269,
+  "force_magnitude_peak": 0.006598229520022869,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 205,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000206/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000206/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37b4b0a4cc5bc6812c5357e5f4328a72c461474
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000206/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008547812700271606,
+  "shear_peak": 0.0019180207746103406,
+  "force_magnitude_peak": 0.00857450906187296,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 206,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000209/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000209/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d147a7e55fc3c4771e0843d21eb9458aa209dad6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000209/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.0,
+  "contact_ratio": 0.9821428571428571,
+  "avg_contact_area": 2329.081818181818,
+  "contact_entropy": 0.5071097243837748,
+  "total_frames": 336,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 209,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000210/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000210/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..221ef81d568affbffffdf35097559d7a3e74f9a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000210/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008762094075791538,
+  "shear_peak": 0.0023536060471087694,
+  "force_magnitude_peak": 0.0023748199455440044,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 210,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e523dc59070fa06d9d102373fa26d96999b7d1b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.44675324675324674,
+  "avg_contact_area": 1962.0,
+  "contact_entropy": 0.2625926781362698,
+  "total_frames": 385,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 211,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000213/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000213/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f33d4ff751a59eb8112b03b39933075897b11f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000213/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.166666666666666,
+  "contact_ratio": 0.7244655581947743,
+  "avg_contact_area": 5914.649180327869,
+  "contact_entropy": 0.4784813325428826,
+  "total_frames": 421,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 213,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000214/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000214/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4fecfe2223206825dc41bee7bcdb584e0d855e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000214/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013094437308609486,
+  "shear_peak": 0.0016426662914454937,
+  "force_magnitude_peak": 0.0017585670575499535,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 214,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b2367e9dce4038c13e677b85f10798987da44e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007333351531997323,
+  "shear_peak": 0.0009633133304305375,
+  "force_magnitude_peak": 0.0009847597684711218,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 216,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..502c80cd411b20503d2a75f0a500c3d700289255
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.266666666666667,
+  "contact_ratio": 0.5844748858447488,
+  "avg_contact_area": 256.703125,
+  "contact_entropy": 0.0034954179552254706,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 218,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000220/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000220/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d135a2e74a963a41a0c405f205fff8fcd1f832a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000220/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.5,
+  "contact_ratio": 0.8881578947368421,
+  "avg_contact_area": 321.22962962962964,
+  "contact_entropy": 0.02563630239324864,
+  "total_frames": 152,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 220,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca6737659ba79f311a68d4901ff6dda3f4b2b86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.1,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5410.766114180479,
+  "contact_entropy": 0.3400814580004567,
+  "total_frames": 543,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a620fe71de378e13117d5af8cf2f527219e74d05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035944089759141207,
+  "shear_peak": 0.0037344065494835377,
+  "force_magnitude_peak": 0.0046464139595627785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 224,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2e8bb053d08fea103604dff5d400ffaebf080f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.9345454545454546,
+  "avg_contact_area": 7068.727626459144,
+  "contact_entropy": 0.417415228403305,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 232,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..141d658fd7f0d19f9ebcca494808954341caf71e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.7338129496402878,
+  "avg_contact_area": 8156.053921568628,
+  "contact_entropy": 0.3027322163573204,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 235,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f6dced3b0b7663203d29a5bd674ab15db92ab9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.7243589743589743,
+  "avg_contact_area": 13246.345132743363,
+  "contact_entropy": 0.5862887778982175,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 237,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c997e3282c3292b1bf4a8bc21de55289fe3a7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031851050443947315,
+  "shear_peak": 0.006388296838849783,
+  "force_magnitude_peak": 0.007116345223039389,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 238,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000239/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000239/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd4b469785066d6a1504220e6ed620f37a5349a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000239/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.3,
+  "contact_ratio": 0.5096153846153846,
+  "avg_contact_area": 83.10691823899371,
+  "contact_entropy": 0.22122597322097043,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 239,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20bfa9daa437cdf37352bfa41df3335ff2c5387
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009103534743189812,
+  "shear_peak": 0.013539556413888931,
+  "force_magnitude_peak": 0.013680261559784412,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..243850b24c3230a81e5e4396fb6e0de0d6e174e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006413562805391848,
+  "shear_peak": 0.00047108062426559627,
+  "force_magnitude_peak": 0.0006975184660404921,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 242,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1079b0e6b339327d7b32b523a84c9383faa80fd5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006818700931034982,
+  "shear_peak": 0.005085255950689316,
+  "force_magnitude_peak": 0.0067542181350290775,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 244,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000245/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000245/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a78fd2a3b858efc5c510eb3b7e20eda5a79f42a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000245/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0062614260241389275,
+  "shear_peak": 0.0034837420098483562,
+  "force_magnitude_peak": 0.006675579585134983,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 245,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000246/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000246/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10ef992f5b1c040b00887924c5b4ea2614e36708
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000246/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009217415004968643,
+  "shear_peak": 0.0028646013233810663,
+  "force_magnitude_peak": 0.00943258311599493,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 246,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000249/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000249/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bb9dd8525ea6ec6652bbcf3d337a8d3f508904a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000249/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.5892116182572614,
+  "avg_contact_area": 3688.3345070422533,
+  "contact_entropy": 0.5864416669681004,
+  "total_frames": 482,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 249,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000250/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000250/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9000a38b612a40128d175613eeaba2e8f87ba593
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000250/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010985802859067917,
+  "shear_peak": 0.005567638203501701,
+  "force_magnitude_peak": 0.011916706338524818,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 250,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c61bdc4723f74dd4e317d1a1efd664b5e82808
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.5964912280701754,
+  "avg_contact_area": 2030.1519607843138,
+  "contact_entropy": 0.2761545961214408,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 251,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000253/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000253/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6bbfc21f55dfd66939b852db6a70f3054565ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000253/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.9688473520249221,
+  "avg_contact_area": 5102.443729903537,
+  "contact_entropy": 0.6550080604203471,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 253,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000254/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000254/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ccaf656ef6efa7a4160caba083ea5e898ca0ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000254/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015183851355686784,
+  "shear_peak": 0.001333454274572432,
+  "force_magnitude_peak": 0.002257112180814147,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 254,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..758a2ea1eafeca1e20d10ca9514f2a1a0a777668
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012830700725317001,
+  "shear_peak": 0.017620116472244263,
+  "force_magnitude_peak": 0.021782081574201584,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 256,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e63e070f2f67418494d6e49bcd3ebc73c6df6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7393162393162394,
+  "avg_contact_area": 83.16184971098266,
+  "contact_entropy": 0.0,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 258,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000260/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000260/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2fff989e8940434b07010e96e5b4d16f25e8b19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000260/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.696969696969697,
+  "avg_contact_area": 682.4,
+  "contact_entropy": 0.016694434877190484,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 260,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0df08fef05021321c012c241d24813164011f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.066666666666667,
+  "contact_ratio": 0.22549019607843138,
+  "avg_contact_area": 565.9891304347826,
+  "contact_entropy": 0.33726945488915394,
+  "total_frames": 408,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c1aff1286df3bba5fd0420fbe7d911444a55be8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00021681269572582096,
+  "shear_peak": 0.0032230564393103123,
+  "force_magnitude_peak": 0.0033484315499663353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 264,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fadf6164903900e0683f4580d07858a3493665
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.5987261146496815,
+  "avg_contact_area": 11407.556737588653,
+  "contact_entropy": 0.6481687239955729,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 272,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..795f08e831da12ff731382db2d908d1407e0b84a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.366666666666666,
+  "contact_ratio": 0.43079922027290446,
+  "avg_contact_area": 10000.425339366517,
+  "contact_entropy": 0.703994169483407,
+  "total_frames": 513,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42994a650c2ecff422eea017599157c83652d8e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.43915343915343913,
+  "avg_contact_area": 8204.307228915663,
+  "contact_entropy": 0.5766277363953226,
+  "total_frames": 378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 277,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a592fc070c580cb2f14f1a75f34332003c11cacb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008739571087062359,
+  "shear_peak": 0.004702371079474688,
+  "force_magnitude_peak": 0.009889424778521061,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 278,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000279/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000279/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aacb86f57565cc51550f6b5930b511a0c953b53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000279/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 0.700920245398773,
+  "avg_contact_area": 1475.6783369803063,
+  "contact_entropy": 0.5164230326513823,
+  "total_frames": 652,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 279,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc77a79022568bdeb3730a6379e6fd80dfb139a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003678180743008852,
+  "shear_peak": 0.010664626955986023,
+  "force_magnitude_peak": 0.011444333009421825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 281,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1baf0469784b351e1f66239f698bb51ea1d4f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007023084908723831,
+  "shear_peak": 0.00290009006857872,
+  "force_magnitude_peak": 0.0070397499948740005,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 282,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90713067d09b17d5124116c80237ba5b18e23df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009914478287100792,
+  "shear_peak": 0.014838287606835365,
+  "force_magnitude_peak": 0.017030445858836174,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000285/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000285/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e9c17b4b9892e86ae6717ad44194c98ca4a7886
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000285/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018291212618350983,
+  "shear_peak": 0.012425673194229603,
+  "force_magnitude_peak": 0.01857360638678074,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 285,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000286/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000286/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad4f2a4e5c9fb33ad4ad27ed42cf20b82f5a636
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000286/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004516154993325472,
+  "shear_peak": 0.0031586948316544294,
+  "force_magnitude_peak": 0.005061196628957987,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 286,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000289/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000289/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22319943b711ccfb347bc4e271ac87392034704
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000289/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.966666666666667,
+  "contact_ratio": 0.6704035874439462,
+  "avg_contact_area": 173.33779264214047,
+  "contact_entropy": 0.003418908921229122,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 289,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000290/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000290/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f69e615c90d94695eadd912f31d2241c9d1dba17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000290/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003941526170819998,
+  "shear_peak": 0.005024269223213196,
+  "force_magnitude_peak": 0.005425780545920134,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 290,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ccd723f9c4e3986db924f14b254dc0fe0e4ce70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.933333333333334,
+  "contact_ratio": 0.9580246913580247,
+  "avg_contact_area": 1529.7242268041236,
+  "contact_entropy": 0.4624555402243637,
+  "total_frames": 405,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 291,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000293/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000293/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b2e523d466dc6d57fe97e9baaad16c14718d610
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000293/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.533333333333333,
+  "contact_ratio": 0.8241965973534972,
+  "avg_contact_area": 8280.805045871559,
+  "contact_entropy": 0.6618706315088455,
+  "total_frames": 529,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 293,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000294/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000294/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..790a8a801ad3b555fac2c94f798da48190ba7b43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000294/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006565203424543142,
+  "shear_peak": 0.0034784094896167517,
+  "force_magnitude_peak": 0.007109651807695627,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 294,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e06f551adae5fb19d63205c4f0bb33e7c960460f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006784914527088404,
+  "shear_peak": 0.006465212441980839,
+  "force_magnitude_peak": 0.007162925787270069,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 296,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3be2dd4dce51b7744e18215afde7f10a264beb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.333333333333334,
+  "contact_ratio": 0.989247311827957,
+  "avg_contact_area": 1830.1391304347826,
+  "contact_entropy": 0.20979680649029311,
+  "total_frames": 465,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 298,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000300/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000300/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fcae9829745e7b182435f7edf02ce79ba2759b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000300/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.6624548736462094,
+  "avg_contact_area": 849.591280653951,
+  "contact_entropy": 0.6863650374374913,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 300,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbefa32b1cd25ef494d2acb7e55fea1deffb9b70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.9330985915492958,
+  "avg_contact_area": 5095.305660377358,
+  "contact_entropy": 0.5349106234761218,
+  "total_frames": 284,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9660dba9b1120df00f1934fdc98d7c280059d03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0054450975731015205,
+  "shear_peak": 0.003900371491909027,
+  "force_magnitude_peak": 0.005447154399007559,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 304,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..901c1059854063019783952d3d9ed0b8a087329c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.333333333333333,
+  "contact_ratio": 0.8365019011406845,
+  "avg_contact_area": 3474.2136363636364,
+  "contact_entropy": 0.6498958479921804,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 312,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5011acd785c4ea652b68bcd61ddaf74e5fb6d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.966666666666667,
+  "contact_ratio": 0.6065989847715736,
+  "avg_contact_area": 8844.322175732217,
+  "contact_entropy": 0.5371719293549465,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 315,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65b54473db9b23cfa13313acd00dc48ea45ee1c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.266666666666667,
+  "contact_ratio": 0.9041769041769042,
+  "avg_contact_area": 5975.350543478261,
+  "contact_entropy": 0.6553573771654295,
+  "total_frames": 407,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 317,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f442d1d3d0207fdb508aff0070a35a8fb99cd9e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011252055875957012,
+  "shear_peak": 0.0035670266952365637,
+  "force_magnitude_peak": 0.011524240486323833,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 318,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000319/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000319/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab2d6ad68b23c42c131e195d26bf78e5357f970
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000319/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 0.5933014354066986,
+  "avg_contact_area": 2107.907258064516,
+  "contact_entropy": 0.7682847362179036,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 319,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2a81d852d2404593c64106bc2d73e54cfb9c1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001586447237059474,
+  "shear_peak": 0.004697128664702177,
+  "force_magnitude_peak": 0.00886204931885004,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..441bffab683da6a876b020ac8f9f949c4bb34c26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006979156285524368,
+  "shear_peak": 0.0036036139354109764,
+  "force_magnitude_peak": 0.007827169261872768,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 322,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55383fdc74e8350a6aa545664acaf6cffcbf757
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013982229866087437,
+  "shear_peak": 0.010704140178859234,
+  "force_magnitude_peak": 0.015904905274510384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000325/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000325/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0c783891bb8f713568e8c4e4ee3a679cef77c73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000325/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005338925984688103,
+  "shear_peak": 0.0013286946341395378,
+  "force_magnitude_peak": 0.00133746606297791,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 325,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000326/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000326/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99cee847d315b3008dd935c7c8c2c1caa262ae3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000326/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007335091941058636,
+  "shear_peak": 0.0011365368263795972,
+  "force_magnitude_peak": 0.0011456417851150036,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 326,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000329/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000329/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea9b9dc4c5f1dd2d1b9f8984aebd490a5acd39b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000329/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.5995370370370371,
+  "avg_contact_area": 1260.6293436293436,
+  "contact_entropy": 0.49870534896543217,
+  "total_frames": 432,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 329,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000330/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000330/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0acb536eee130676baf200e24cc3d3cdf7cd7a47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000330/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0051026726141572,
+  "shear_peak": 0.005762080661952496,
+  "force_magnitude_peak": 0.007367068435996771,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 330,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e67244174aeeaac8fdc04238ad772f6c8761e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.833333333333334,
+  "contact_ratio": 0.8536585365853658,
+  "avg_contact_area": 2061.6493506493507,
+  "contact_entropy": 1.0275274045507068,
+  "total_frames": 451,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 331,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000333/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000333/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd81308f0050c87d8afa2408ee5618e6ae989c48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000333/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.8181818181818182,
+  "avg_contact_area": 4615.3481481481485,
+  "contact_entropy": 0.8150438715421879,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 333,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000334/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000334/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..382b2f9794cb14bfa9c0a22a4d4e9831c02692a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000334/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037459107115864754,
+  "shear_peak": 0.002911296673119068,
+  "force_magnitude_peak": 0.004175830166786909,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 334,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e77b740b0be68fab031bfa37aedc0b92fd18a50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009871959686279297,
+  "shear_peak": 0.008747023530304432,
+  "force_magnitude_peak": 0.009949181228876114,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 336,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fccc2d9fdd7b5945726a5086756c6eb6092ed83
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.2,
+  "contact_ratio": 0.4785992217898833,
+  "avg_contact_area": 976.0325203252032,
+  "contact_entropy": 0.3783640823633849,
+  "total_frames": 514,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 338,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000340/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000340/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6221f9f173f666b7728b0d806abb64941bc267
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000340/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.6942857142857143,
+  "avg_contact_area": 1737.641975308642,
+  "contact_entropy": 0.6559025361676478,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 340,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22fa4bfee8826caf923397831579a6fb661a849f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.8734693877551021,
+  "avg_contact_area": 7442.0373831775705,
+  "contact_entropy": 0.5332873645134462,
+  "total_frames": 245,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2da081a231c397537dff25f3866e01c89f0642e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004155317321419716,
+  "shear_peak": 0.004097251687198877,
+  "force_magnitude_peak": 0.005747596733272076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 344,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..329bf6f6886baf4a7d4bfb21873df6fe5c31872b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.7412587412587412,
+  "avg_contact_area": 6659.330188679245,
+  "contact_entropy": 0.665616709253823,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 352,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..74719d76b269e0bd02442a793f27eda15ac67fd2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.7,
+  "contact_ratio": 0.6761658031088082,
+  "avg_contact_area": 4875.214559386974,
+  "contact_entropy": 0.5300707306996024,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 355,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85e3be4330cb431198a0efcbf2d6666bb2f4e6e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7321428571428571,
+  "avg_contact_area": 6467.030487804878,
+  "contact_entropy": 0.3182415274703179,
+  "total_frames": 224,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 357,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22aa01f9449c50b74359c502ea858543551700fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005581417586654425,
+  "shear_peak": 0.003278416348621249,
+  "force_magnitude_peak": 0.006081203930079937,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 358,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000359/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000359/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..056f021a1002e11a615c60db11c87cd291bc0d0b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000359/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.2333333333333334,
+  "contact_ratio": 0.16818181818181818,
+  "avg_contact_area": 270.7567567567568,
+  "contact_entropy": 0.11929347504564101,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 359,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..185acd28719d9e7a79940c0730f0a370da20f404
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008517451584339142,
+  "shear_peak": 0.010878178291022778,
+  "force_magnitude_peak": 0.01093898806720972,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 361,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b723addd518548e87b340e0e88d7e045418a8577
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00208548316732049,
+  "shear_peak": 0.0023310615215450525,
+  "force_magnitude_peak": 0.002345083514228463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 362,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd3e1c153eb2f01f7ddeb722e656a74f1b63d26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005300428601913154,
+  "shear_peak": 0.007698927074670792,
+  "force_magnitude_peak": 0.007808752823621035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 364,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000365/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000365/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84d5fcc7707957cc45d0be518f066a85dcc9c51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000365/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004842053633183241,
+  "shear_peak": 0.006472533103078604,
+  "force_magnitude_peak": 0.006477497983723879,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 365,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000366/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000366/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2035959a13ebdd018e86087e243560128c0cfb8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000366/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008268650621175766,
+  "shear_peak": 0.0024173131678253412,
+  "force_magnitude_peak": 0.008370260708034039,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 366,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000369/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000369/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..837e31d602a74c54eec5b77e74d46fa2b23f368d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000369/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.3333333333333333,
+  "contact_ratio": 0.23255813953488372,
+  "avg_contact_area": 794.725,
+  "contact_entropy": 0.19531188277912656,
+  "total_frames": 172,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 369,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000370/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000370/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac5067692fe5f54fbe1bedcbfb7f2d7b5492255
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000370/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002730477834120393,
+  "shear_peak": 0.0031231644097715616,
+  "force_magnitude_peak": 0.0038368222303688526,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 370,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8944ff6b1e08aa50bb17e2378188ad04e86d0b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.466666666666667,
+  "contact_ratio": 0.6419753086419753,
+  "avg_contact_area": 1551.7788461538462,
+  "contact_entropy": 0.30222733615393965,
+  "total_frames": 162,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 371,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000373/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000373/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd5c05fa54d2e114c98348415a82ff07b3b9404
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000373/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.8154761904761905,
+  "avg_contact_area": 683.4817518248175,
+  "contact_entropy": 0.050764159051622876,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 373,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000374/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000374/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8612a989784609c22bb7a5719bb6cd69d7f3f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000374/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0056218793615698814,
+  "shear_peak": 0.0015304813859984279,
+  "force_magnitude_peak": 0.005659854039549828,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 374,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9adfb9c80f070661d7bf34609864b21f9529bfad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002028511371463537,
+  "shear_peak": 0.009663067758083344,
+  "force_magnitude_peak": 0.009758345782756805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 376,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b8f02d8283f638f8707dd19eab1052f6d34afb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.933333333333334,
+  "contact_ratio": 0.6727272727272727,
+  "avg_contact_area": 74.92567567567568,
+  "contact_entropy": 0.0,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 378,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000380/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000380/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf255d298eeeda4e164b84beaf8389d965acdb92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000380/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.5806451612903226,
+  "avg_contact_area": 3151.8492063492063,
+  "contact_entropy": 0.43192036934567113,
+  "total_frames": 217,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 380,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b905ad93810582b29c5315a1ba5f4956f8c5901
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.13333333333333333,
+  "contact_ratio": 0.025,
+  "avg_contact_area": 3237.0,
+  "contact_entropy": 0.5785983127193539,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80306d8b575463e19ae5bba9c3aa9d6f855cbce3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002279243664816022,
+  "shear_peak": 0.0013917123433202505,
+  "force_magnitude_peak": 0.002557380124926567,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 384,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd73231612e088666eac4ba294f987297baa90da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.8805031446540881,
+  "avg_contact_area": 1367.3785714285714,
+  "contact_entropy": 0.3602068644980631,
+  "total_frames": 159,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 392,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d94fc22f8405faa9060b12bc0ecd55c3243b61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.7443181818181818,
+  "avg_contact_area": 3965.4885496183206,
+  "contact_entropy": 0.34026790429701187,
+  "total_frames": 176,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 395,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..347cdb5ffa9e6be78a79ca3204fd578c9488dc0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.5263157894736842,
+  "avg_contact_area": 3079.7272727272725,
+  "contact_entropy": 0.26154671726875367,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 397,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85677306553e4c310214dc51bd0d13f479070f46
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005601759068667889,
+  "shear_peak": 0.0052796234376728535,
+  "force_magnitude_peak": 0.00711611844599247,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 398,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfc07f3be991e5d1965705cdc6767863a9d919f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.133333333333334,
+  "contact_ratio": 0.5610859728506787,
+  "avg_contact_area": 385.68548387096774,
+  "contact_entropy": 0.0,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 399,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b5b825396593ce99957ddbaebc1f8855547c20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013312697410583496,
+  "shear_peak": 0.00839237216860056,
+  "force_magnitude_peak": 0.01436852477490902,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 401,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3108db6b430b43f4fafaa85629e065c3aabd13cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002861900022253394,
+  "shear_peak": 0.003043681848794222,
+  "force_magnitude_peak": 0.004109224304556847,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 402,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd37abdcc34e0a24382bb167317a06abb6fac47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007467328105121851,
+  "shear_peak": 0.005211433861404657,
+  "force_magnitude_peak": 0.008630643598735332,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 404,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000405/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000405/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa4620b658a2ef23feec43a062bb9308df32aa7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000405/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010328085161745548,
+  "shear_peak": 0.00939993653446436,
+  "force_magnitude_peak": 0.013723840937018394,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000406/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000406/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b554e48b592b7a83a931c1195a143bd5b61d6a77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000406/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002840015571564436,
+  "shear_peak": 0.005112688057124615,
+  "force_magnitude_peak": 0.005739687941968441,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 406,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000409/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000409/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..029af72c7279a375e5649a3dcaa939c6c5b50f07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000409/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.8,
+  "contact_ratio": 0.5373134328358209,
+  "avg_contact_area": 3081.9930555555557,
+  "contact_entropy": 0.6750332439376012,
+  "total_frames": 268,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 409,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000410/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000410/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4756e1c98bfed4bd9c62bab0738cdb976adac066
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000410/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025795118417590857,
+  "shear_peak": 0.00436064088717103,
+  "force_magnitude_peak": 0.004374753683805466,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 410,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37ce9e887037a501c4d6ea5a388960690e5aea5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.47393364928909953,
+  "avg_contact_area": 2224.01,
+  "contact_entropy": 0.7369586860313125,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 411,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000413/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000413/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c16f8b443ffd3e8927fc7cedbb8aaf1ebe3b08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000413/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.933333333333334,
+  "contact_ratio": 0.6166666666666667,
+  "avg_contact_area": 2103.2364864864867,
+  "contact_entropy": 0.015032428275207428,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 413,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000414/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000414/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12bc840aa0ddbf7b077dc0f81db94a5b51957207
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000414/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005701707676053047,
+  "shear_peak": 0.005901163909584284,
+  "force_magnitude_peak": 0.008205682039260864,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 414,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd2a7564a3c1d7d49dec9511ddaab5d04aab453
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009084811434149742,
+  "shear_peak": 0.010851616971194744,
+  "force_magnitude_peak": 0.014138936065137386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 416,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3812ce0d63b367df09b5eec22e8bfd720ea943
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.3,
+  "contact_ratio": 0.6515151515151515,
+  "avg_contact_area": 2145.124031007752,
+  "contact_entropy": 0.7273006953149178,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 418,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000420/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000420/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..813a659880f27daa69bf3480ea6ef85277d6eb08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000420/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.5,
+  "contact_ratio": 0.54,
+  "avg_contact_area": 1228.8148148148148,
+  "contact_entropy": 0.0942898755496167,
+  "total_frames": 250,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 420,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a5559f795b2720252917db887e526690fd373b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.670995670995671,
+  "avg_contact_area": 5817.98064516129,
+  "contact_entropy": 0.13630903583262488,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4034e4b93071a5106b64015598e89abb4eb025db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017560753040015697,
+  "shear_peak": 0.0017230326775461435,
+  "force_magnitude_peak": 0.0018214310985058546,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 424,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3369e7c474132c2669e515aa8619e18de28d416
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.933333333333333,
+  "contact_ratio": 0.4701195219123506,
+  "avg_contact_area": 780.3389830508474,
+  "contact_entropy": 0.3068582905762707,
+  "total_frames": 251,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 432,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03074074133536ca54f5ea70df668a833a50b969
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.3,
+  "contact_ratio": 0.2671232876712329,
+  "avg_contact_area": 4068.948717948718,
+  "contact_entropy": 0.007219347875141182,
+  "total_frames": 146,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 435,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0acf658463f756ee43da1d334cb2f484bc09aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.766666666666667,
+  "contact_ratio": 0.7606382978723404,
+  "avg_contact_area": 359.5244755244755,
+  "contact_entropy": 0.0,
+  "total_frames": 188,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 437,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..463fa6c0c54bfbe14fc5d88aa8454cd00d3adfb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002362562343478203,
+  "shear_peak": 0.0022811279632151127,
+  "force_magnitude_peak": 0.003099083434790373,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 438,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..837b925c000d30847f81615d0687356784f670b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.433333333333333,
+  "contact_ratio": 0.39037433155080214,
+  "avg_contact_area": 3013.301369863014,
+  "contact_entropy": 0.4962658877791932,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 439,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1cfd75fbdcf713546382f2d41f5952a55b298f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00630348501726985,
+  "shear_peak": 0.009509283117949963,
+  "force_magnitude_peak": 0.010122735984623432,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a894b135274ad021941619057b8c39123ece7eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001293846988119185,
+  "shear_peak": 0.0015951934037730098,
+  "force_magnitude_peak": 0.00170452322345227,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 442,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37f49cff4f00117bced75ebbe0431fca0831924
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0059704408049583435,
+  "shear_peak": 0.008722223341464996,
+  "force_magnitude_peak": 0.010569926351308823,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 444,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000445/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000445/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1963475d1ae30b79bd3a71a1d735d0397aba643
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000445/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007152145728468895,
+  "shear_peak": 0.00795335229486227,
+  "force_magnitude_peak": 0.009059691801667213,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 445,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000446/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000446/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddbfb157182359e51069a9d0d6f01f2a5edf736
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000446/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004011543467640877,
+  "shear_peak": 0.0027748967986553907,
+  "force_magnitude_peak": 0.004432077519595623,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 446,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000449/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000449/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13c6771aca9d19da1e78e320871640765c6e9024
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000449/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.033333333333333,
+  "contact_ratio": 0.35968379446640314,
+  "avg_contact_area": 1677.6923076923076,
+  "contact_entropy": 0.23910229540955474,
+  "total_frames": 253,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 449,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000450/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000450/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b29a67e896e9fc08889f441ffef8683431a644
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000450/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031633537728339434,
+  "shear_peak": 0.0014938139356672764,
+  "force_magnitude_peak": 0.003494763281196356,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 450,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9634220dad30e1498c247c22c4ed81e15af532ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.533333333333333,
+  "contact_ratio": 0.5066666666666667,
+  "avg_contact_area": 17.0,
+  "contact_entropy": 0.0,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 451,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000453/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000453/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe735494cee9bb5296ef9a1b659db544a4295721
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000453/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2,
+  "contact_ratio": 0.3333333333333333,
+  "avg_contact_area": 5140.257575757576,
+  "contact_entropy": 0.9912366985674314,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 453,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000454/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000454/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e959d0757fbcc5d2c5c601830aca25b3e82b1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000454/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004808926023542881,
+  "shear_peak": 0.0011881804093718529,
+  "force_magnitude_peak": 0.0019184541888535023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 454,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d69bece36fa0a12e7df746a1780bcb75069b367
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028316888492554426,
+  "shear_peak": 0.003901709569618106,
+  "force_magnitude_peak": 0.004460833966732025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 456,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fb168586dab235ed4b459783581d53127e15904
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.3333333333333335,
+  "contact_ratio": 0.5109489051094891,
+  "avg_contact_area": 768.2142857142857,
+  "contact_entropy": 0.3293319407133559,
+  "total_frames": 137,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 458,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000460/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000460/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5342074ef55bd568cbc0af41b3fd4de57967b921
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000460/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.7317073170731707,
+  "avg_contact_area": 1118.6083333333333,
+  "contact_entropy": 0.2772631698411362,
+  "total_frames": 164,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 460,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5929541fd9f2a3b92e2c529b9ba089da4de9606
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.5136363636363637,
+  "avg_contact_area": 163.05309734513276,
+  "contact_entropy": 0.13497791674556686,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a8560f800fc2bb3b5347b7c1d5c6fd3c4f35bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002179037546738982,
+  "shear_peak": 0.002313140779733658,
+  "force_magnitude_peak": 0.0026235550176352262,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 464,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5f381499dca17a13bbe5ff5bb7c140a9526e58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.4797507788161994,
+  "avg_contact_area": 8528.0,
+  "contact_entropy": 0.6339668212058872,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb4f0bd92cd233a060f95b3c434441f0ac6e716d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.3498542274052478,
+  "avg_contact_area": 12136.95,
+  "contact_entropy": 0.7963745009173961,
+  "total_frames": 343,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 475,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b9fbf5f9bf9d6ce989fe9b1ae256f5c5afe486d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.7763157894736842,
+  "avg_contact_area": 14108.412429378532,
+  "contact_entropy": 0.17398366055397538,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 477,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb7f5ab44ba06587db041003e98ac5598609c38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015327205182984471,
+  "shear_peak": 0.0024144649505615234,
+  "force_magnitude_peak": 0.0028380595613271,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 478,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d845600ad284b474d2806fbe779ba2a712956b0c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.8896103896103896,
+  "avg_contact_area": 594.0656934306569,
+  "contact_entropy": 0.5412482491873577,
+  "total_frames": 154,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 479,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75b5c60ffdf1dbdf302584392358ef7cb12534b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014179578050971031,
+  "shear_peak": 0.009040892124176025,
+  "force_magnitude_peak": 0.015516825020313263,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 481,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4f30e59afaad4672b45c2de60b981cddd3079fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011626259656623006,
+  "shear_peak": 0.0014896115753799677,
+  "force_magnitude_peak": 0.0014900134410709143,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 482,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..243508c21d1d15abc593f237a6528540dcfe2354
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009192858822643757,
+  "shear_peak": 0.005619959905743599,
+  "force_magnitude_peak": 0.009219363331794739,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 484,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000485/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000485/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..26589fc3e1e476d5695aedcaa22a83848da77c56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000485/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013432416133582592,
+  "shear_peak": 0.020134219899773598,
+  "force_magnitude_peak": 0.024203648790717125,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 485,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000486/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000486/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcb467d6516e359f0e29d88d6c1dc20dea7b87c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000486/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006890313234180212,
+  "shear_peak": 0.010446133092045784,
+  "force_magnitude_peak": 0.011894213035702705,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 486,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000489/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000489/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d6cbc537c439411d292e303dd2a8d1c13d28b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000489/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2,
+  "contact_ratio": 0.5079365079365079,
+  "avg_contact_area": 1259.8541666666667,
+  "contact_entropy": 0.7284155311057448,
+  "total_frames": 189,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 489,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000490/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000490/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4264537372ba703c3dcb2a041178699e68952bd4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000490/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002381480997428298,
+  "shear_peak": 0.0014859189977869391,
+  "force_magnitude_peak": 0.0027577574364840984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 490,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41e1ca3895b926dfbb0abbaa2217653edd59b1d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.37425149700598803,
+  "avg_contact_area": 79.096,
+  "contact_entropy": 0.0,
+  "total_frames": 334,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 491,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000493/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000493/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b932381b61cf5b654ffc28f96b84cfc44d697f8a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000493/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.5945945945945946,
+  "avg_contact_area": 6024.058441558442,
+  "contact_entropy": 0.48332258321466337,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 493,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000494/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000494/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66d8b66c559adf45062bef7ba150c811493855d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000494/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006497862748801708,
+  "shear_peak": 0.011345707811415195,
+  "force_magnitude_peak": 0.011843527667224407,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 494,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd20d35cfc9d89e89ff0b5147536399af13041b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018985946662724018,
+  "shear_peak": 0.006449353415518999,
+  "force_magnitude_peak": 0.006474642548710108,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 496,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e87a1dc567a19e989c8cf6338ee4f9fc1961a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.3761467889908257,
+  "avg_contact_area": 702.9756097560976,
+  "contact_entropy": 0.4526676550323129,
+  "total_frames": 218,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 498,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000500/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000500/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8d582a0a74cd6872819d8829f2f22a0bdeff59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000500/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.8333333333333334,
+  "contact_ratio": 0.1497005988023952,
+  "avg_contact_area": 256.96,
+  "contact_entropy": 0.0,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 500,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b380a87248c4f5d6091c0326b2ee20f88f8c4a5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.702247191011236,
+  "avg_contact_area": 3827.44,
+  "contact_entropy": 0.007654958050891185,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000504/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000504/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f57db31844d28ab29d52085f1761e3dcb13980b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000504/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001517814351245761,
+  "shear_peak": 0.001927949138917029,
+  "force_magnitude_peak": 0.0019299585837870836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 504,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b39b31d150fb26bd1d42b89deec13d8b1215687
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019407597137615085,
+  "shear_peak": 0.0019199501257389784,
+  "force_magnitude_peak": 0.0022035774309188128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 518,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000519/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000519/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e717fa0cca9c2b4e0b10ff348c782f5d2ecb0b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000519/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.1666666666666665,
+  "contact_ratio": 0.59375,
+  "avg_contact_area": 315.6736842105263,
+  "contact_entropy": 0.06692535447723073,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 519,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000522/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000522/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb2806e612efda32687948f25c9882020140389
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000522/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006933068390935659,
+  "shear_peak": 0.0021191248670220375,
+  "force_magnitude_peak": 0.007249698508530855,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 522,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000529/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000529/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a48838af1cf6692a01ff5ff83cca0fd93852282
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000529/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.7,
+  "contact_ratio": 0.3072289156626506,
+  "avg_contact_area": 5310.21568627451,
+  "contact_entropy": 0.8833659922917094,
+  "total_frames": 166,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 529,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e69aa1803f1ae0ab6a070eafaf2c30b70fd67dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.1333333333333333,
+  "contact_ratio": 0.2236842105263158,
+  "avg_contact_area": 424.1764705882353,
+  "contact_entropy": 0.6870953939964612,
+  "total_frames": 152,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 531,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000534/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000534/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a62c20728f85a9122756bf6944ce39a3418db8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000534/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008913472294807434,
+  "shear_peak": 0.003605836071074009,
+  "force_magnitude_peak": 0.008976344019174576,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 534,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a13fa225dc7a20f48f0ae9b8aaf414c3775e33e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.6333333333333333,
+  "contact_ratio": 0.2257142857142857,
+  "avg_contact_area": 978.0379746835443,
+  "contact_entropy": 0.5080921272472956,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 538,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000540/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000540/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e53533ced27e421cdc7080270dbaf20d710707
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000540/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.533333333333333,
+  "contact_ratio": 0.7162162162162162,
+  "avg_contact_area": 306.8207547169811,
+  "contact_entropy": 0.0,
+  "total_frames": 148,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 540,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file