diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4f62226e1b93f4890852b06622bce27a95c5b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024054210633039474,
+  "shear_peak": 0.01121116615831852,
+  "force_magnitude_peak": 0.025522399693727493,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 178,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000179/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000179/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b40d29eb5e0c02e098e18c2e43cd047e944f2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000179/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02792319655418396,
+  "shear_peak": 0.02102254517376423,
+  "force_magnitude_peak": 0.02792508527636528,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 179,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09686b56f69967f77e413249e6997522f55e76c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008475083857774734,
+  "shear_peak": 0.004672251176089048,
+  "force_magnitude_peak": 0.008494398556649685,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 194,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52def3130b5cc8cdcc6464c48025787f57d4947d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000194/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.966666666666667,
+  "contact_ratio": 0.876953125,
+  "avg_contact_area": 1058.4164810690422,
+  "contact_entropy": 0.010010849340389108,
+  "total_frames": 512,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 194,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..123f23d813b4436718902a58fb73787175fc5b2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018759096041321754,
+  "shear_peak": 0.010200261138379574,
+  "force_magnitude_peak": 0.01941230148077011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 197,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4ccf7a8b488eafee00ade287d6b66a4eaa3263
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000197/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.4,
+  "contact_ratio": 0.8720173535791758,
+  "avg_contact_area": 8836.335820895523,
+  "contact_entropy": 0.5432360958890545,
+  "total_frames": 461,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 197,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e249a3bd048cfbac5e648fd4edc835e6b5a21e6f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000198/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016304025426506996,
+  "shear_peak": 0.021410327404737473,
+  "force_magnitude_peak": 0.021416164934635162,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 198,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a82624e56b1d72cf4c6ec7177d6bb55ca89fa1f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000199/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.533333333333335,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4037.5767918088736,
+  "contact_entropy": 0.5006729085479786,
+  "total_frames": 586,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 199,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe7a96e28b4c410a54b22300be1a2d9283d91ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008554736152291298,
+  "shear_peak": 0.01036201324313879,
+  "force_magnitude_peak": 0.013437069952487946,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 200,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cdc8ace76cd6b73f518a30bb2a0cdd52b6208f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000200/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.026029912754893303,
+  "shear_peak": 0.017183799296617508,
+  "force_magnitude_peak": 0.03119037114083767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 200,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52b74d127683060fc0727c8cc1041c670ae2842
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000204/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.8,
+  "contact_ratio": 0.8481675392670157,
+  "avg_contact_area": 7059.098765432099,
+  "contact_entropy": 0.2634064711726731,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 204,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000207/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000207/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..760f29f1367bfb7ff2eb29bac631a99b0a07c8c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000207/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0086331432685256,
+  "shear_peak": 0.005495431367307901,
+  "force_magnitude_peak": 0.010085104033350945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 207,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e3371f44d99d2c9a56185ab4ab7b850cbd2173
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000209/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.8738938053097345,
+  "avg_contact_area": 2617.040506329114,
+  "contact_entropy": 0.5908416494711467,
+  "total_frames": 452,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 209,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000212/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000212/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..529a0e669cb1977f55e59587c3fc9e40f16d2cbc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000212/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010143112391233444,
+  "shear_peak": 0.007883911952376366,
+  "force_magnitude_peak": 0.010275471024215221,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 212,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000218/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000218/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d45277e6d8c7f4668f466bc1a554e5ab8b420ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000218/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020478731021285057,
+  "shear_peak": 0.002216437365859747,
+  "force_magnitude_peak": 0.00358217372559011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 218,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e1678b88dff23b9d0952072667e4f1431fb85f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000219/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02459253929555416,
+  "shear_peak": 0.011649711057543755,
+  "force_magnitude_peak": 0.02669338323175907,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 219,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24274685df8b35b775d4d36b3efb63ca3266519a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000223/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.7790262172284644,
+  "avg_contact_area": 10993.360576923076,
+  "contact_entropy": 0.5868058442856559,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000224/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000224/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9580e7e045bfc0a8e21ce817a7fd0bf3492ece
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000224/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.2,
+  "contact_ratio": 0.7365269461077845,
+  "avg_contact_area": 4442.760162601626,
+  "contact_entropy": 0.32571589263248657,
+  "total_frames": 334,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 224,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000226/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000226/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29cc46319bb76f8932c3327d20ef7d8b179f143c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000226/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02700405940413475,
+  "shear_peak": 0.019881287589669228,
+  "force_magnitude_peak": 0.028292102739214897,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 226,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000227/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000227/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89823841dae7bf603f36e54be702130c2f0eb75b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000227/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.7480916030534351,
+  "avg_contact_area": 9701.147959183674,
+  "contact_entropy": 0.3909528177743036,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 227,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85ac5cf0af4be6bf05a26e07a772c2d39107d07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000230/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.666666666666666,
+  "contact_ratio": 0.8557457212713936,
+  "avg_contact_area": 1426.7057142857143,
+  "contact_entropy": 0.5360266766266787,
+  "total_frames": 409,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 230,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000231/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000231/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b50663fe0a98e96a9c360d1c455d618435860
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000231/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.866666666666667,
+  "contact_ratio": 0.740909090909091,
+  "avg_contact_area": 4940.481595092025,
+  "contact_entropy": 0.5094891461258306,
+  "total_frames": 440,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 231,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06579e57fb97f165a9dd76cf7bc1f12ab3ad819f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012538894079625607,
+  "shear_peak": 0.01173237431794405,
+  "force_magnitude_peak": 0.016475673764944077,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 234,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97acc051c354d115cfb974abccfe21cadfa50aad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000234/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.830945558739255,
+  "avg_contact_area": 5513.075862068966,
+  "contact_entropy": 0.12517840869814123,
+  "total_frames": 349,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 234,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4534788986c79f82251a8f538097d0847e13dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.034466009587049484,
+  "shear_peak": 0.015087995678186417,
+  "force_magnitude_peak": 0.036769308149814606,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 237,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9aa08037d50b4fba67e3e944ee436a31483dc01
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000237/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.933333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 15760.49331103679,
+  "contact_entropy": 0.47569962156761425,
+  "total_frames": 598,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 237,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a6574a5f32467836dbd69f19e1e80f083ade644
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000238/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01999571919441223,
+  "shear_peak": 0.009269475936889648,
+  "force_magnitude_peak": 0.02133137732744217,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 238,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29194b2a939d65778ed723b0b6d89dc4f5679e8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000239/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.133333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8298.17921686747,
+  "contact_entropy": 0.45032566450581923,
+  "total_frames": 664,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 239,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..142b7910fb52f52e4c8a222d3586fd30d2ab8d34
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.019035235047340393,
+  "shear_peak": 0.007701296359300613,
+  "force_magnitude_peak": 0.019315531477332115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 240,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..749cfff2bf285bfe4c8d88f42a7ef63801f346fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000240/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03593200817704201,
+  "shear_peak": 0.03715965151786804,
+  "force_magnitude_peak": 0.051455456763505936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 240,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d96ba81505aa0add418dbcb337f659b62656a50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000244/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.633333333333333,
+  "contact_ratio": 0.9005305039787799,
+  "avg_contact_area": 10767.739322533136,
+  "contact_entropy": 0.3848132830720929,
+  "total_frames": 754,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 244,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000247/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000247/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a69a37877d5892b1a0b4ad81294029652316fa2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000247/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014174140058457851,
+  "shear_peak": 0.0125818382948637,
+  "force_magnitude_peak": 0.018470853567123413,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 247,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f86beb062d0f73f7e6ae0beec3107d333aa6c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000249/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.766666666666667,
+  "contact_ratio": 0.8039927404718693,
+  "avg_contact_area": 2726.121896162528,
+  "contact_entropy": 0.5748100382858611,
+  "total_frames": 551,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 249,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000252/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000252/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9aaaf653a40d3b1438d4ce45b695e85474fa4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000252/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.020069414749741554,
+  "shear_peak": 0.013743085786700249,
+  "force_magnitude_peak": 0.023968413472175598,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 252,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000258/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000258/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a5a5e7b33d7d4c97961f603e6da2c1a38c7c7b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000258/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002889256225898862,
+  "shear_peak": 0.012564612552523613,
+  "force_magnitude_peak": 0.012633591890335083,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 258,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c8d95a9b95be1476e34f21a2dbf4807fb3c3403
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000259/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017468616366386414,
+  "shear_peak": 0.017745032906532288,
+  "force_magnitude_peak": 0.02410837635397911,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 259,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1ed85ca6fb1096e34f1323aa9589991c1647e2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000263/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.066666666666666,
+  "contact_ratio": 0.9546827794561934,
+  "avg_contact_area": 10119.606012658227,
+  "contact_entropy": 0.3452160389978075,
+  "total_frames": 662,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000264/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000264/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b03814531edcf980c12d1da54c88f0d839341f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000264/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.7323529411764705,
+  "avg_contact_area": 2600.016064257028,
+  "contact_entropy": 0.34599398039495943,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 264,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000266/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7caf50a38f8ef569f7fdf7041c7acd7710587a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00831550732254982,
+  "shear_peak": 0.030848804861307144,
+  "force_magnitude_peak": 0.030902568250894547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000267/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000267/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75f1de05930284f38cde1216a683ae985307ce38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000267/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.133333333333333,
+  "contact_ratio": 0.7653631284916201,
+  "avg_contact_area": 1184.3102189781023,
+  "contact_entropy": 0.2684838223858558,
+  "total_frames": 358,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 267,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35787819ffd7daf8984685a1278abaf56df76a40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000270/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.3,
+  "contact_ratio": 0.7871559633027523,
+  "avg_contact_area": 9996.459207459207,
+  "contact_entropy": 0.6656947403720738,
+  "total_frames": 545,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 270,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000271/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000271/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a97afe868ea46b879e3d6a97df1b46cbb64f74
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000271/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.533333333333333,
+  "contact_ratio": 0.7847222222222222,
+  "avg_contact_area": 2614.070796460177,
+  "contact_entropy": 0.19556914633085712,
+  "total_frames": 288,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 271,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a9f3c358776e5c6dc6a141018db95ebb046ad0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015760891139507294,
+  "shear_peak": 0.0077997357584536076,
+  "force_magnitude_peak": 0.016534296795725822,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 274,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4af7bf1390e9166187df088fc078a22233562f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000274/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.266666666666667,
+  "contact_ratio": 0.8176470588235294,
+  "avg_contact_area": 2336.956834532374,
+  "contact_entropy": 0.3752476990900579,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 274,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..234295cc01047dfdd0e3e748037e17ba0943c8ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.023626547306776047,
+  "shear_peak": 0.0027199210599064827,
+  "force_magnitude_peak": 0.023754317313432693,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 277,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..537126ead5c89cc0ca4b39439cdd6d182019b365
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000277/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.837465564738292,
+  "avg_contact_area": 3599.1875,
+  "contact_entropy": 0.48509774171356035,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 277,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aae93e4c789521d02cf2530a315f2b17f40cf80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000278/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00980537012219429,
+  "shear_peak": 0.008248929865658283,
+  "force_magnitude_peak": 0.010424436070024967,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 278,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f8aeb7bd4d6ae1234fc772168a6b2882048c53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000279/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.8256130790190735,
+  "avg_contact_area": 4990.056105610561,
+  "contact_entropy": 0.24812024124196166,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 279,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c29be8df0f37fa07e31a6a94a27d8ae7799eb1ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018017098307609558,
+  "shear_peak": 0.016293756663799286,
+  "force_magnitude_peak": 0.023437974974513054,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 280,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82a50a41e55dea2fbd0ea2f6cdbe9fc71abd7e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000280/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011062293779104948,
+  "shear_peak": 0.013604317791759968,
+  "force_magnitude_peak": 0.014134959317743778,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 280,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c281ec6c98249da0338e4995af3e762298105e5a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000284/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 11991.567460317461,
+  "contact_entropy": 0.7880044261718042,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000287/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000287/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3538e159a251ed6b948f651bedf1f1cb15292b2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000287/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0044759465381503105,
+  "shear_peak": 0.0020799064077436924,
+  "force_magnitude_peak": 0.004575026221573353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 287,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c46433dab6b4ae29e6f1c23bdadad9aeb3baf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000289/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.75,
+  "avg_contact_area": 1568.2333333333333,
+  "contact_entropy": 0.18068978311614997,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 289,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000292/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000292/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb66a8e369434a38f80d9997cfe6d2bfd26090f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000292/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006980868987739086,
+  "shear_peak": 0.001470125513151288,
+  "force_magnitude_peak": 0.007107570301741362,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 292,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000298/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000298/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b91085db8d937d1e8fb914d74ab6b565ea937
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000298/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.033456988632678986,
+  "shear_peak": 0.00824970193207264,
+  "force_magnitude_peak": 0.03398703783750534,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 298,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..515c14d8328cc37bf4add19e248168074d04c5f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000299/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006009091739542782,
+  "shear_peak": 0.0016754093812778592,
+  "force_magnitude_peak": 0.002455011010169983,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 299,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22fb02afe4aea2e3720ef6fdfac8678b4086017f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000303/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.9398148148148148,
+  "avg_contact_area": 2077.458128078818,
+  "contact_entropy": 0.23112009704751568,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000304/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000304/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bca17eca0ef7a31663476af043307031053a7595
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000304/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.066666666666666,
+  "contact_ratio": 0.8717948717948718,
+  "avg_contact_area": 6811.338235294118,
+  "contact_entropy": 0.56732147856737,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 304,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000306/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab18a594af5e22523df59ad8899ba3ee0304148b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0332125686109066,
+  "shear_peak": 0.01039047446101904,
+  "force_magnitude_peak": 0.034316711127758026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000307/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000307/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08c8b06e53791893861faa4b102bd04d9c778ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000307/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.7445887445887446,
+  "avg_contact_area": 1414.8372093023256,
+  "contact_entropy": 0.14902901756028986,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 307,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f62761d4d477b4b49f4b6be1fe2c719b2696c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000310/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.9,
+  "contact_ratio": 0.7847682119205298,
+  "avg_contact_area": 6199.763713080169,
+  "contact_entropy": 0.7526052072177627,
+  "total_frames": 302,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 310,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000311/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000311/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..818cddaa2c58b2c501a5575bf432ec9b22e90f8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000311/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.7611336032388664,
+  "avg_contact_area": 13206.994680851063,
+  "contact_entropy": 0.9641256231482385,
+  "total_frames": 247,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 311,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce72e4be6bd8e88e2da9cb037157304697e42e64
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015580005943775177,
+  "shear_peak": 0.009249149821698666,
+  "force_magnitude_peak": 0.01761067844927311,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 314,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba3fad5fb105aaddd5ed12d436bfc8f414e9a84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000314/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.9964664310954063,
+  "avg_contact_area": 32132.68085106383,
+  "contact_entropy": 0.7433242156660592,
+  "total_frames": 283,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 314,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3548a882e01eab51f7107ba047a0733ca70c5a0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036836175713688135,
+  "shear_peak": 0.00376394996419549,
+  "force_magnitude_peak": 0.0041543771512806416,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 317,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..417fbbea5d920adcfffaf84fe17e21341c24575a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000317/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.8043478260869565,
+  "avg_contact_area": 7933.826254826255,
+  "contact_entropy": 0.479558696212945,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 317,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f5c741fc6b8e5cc973a5f027143994d55158d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000318/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007671915809623897,
+  "shear_peak": 0.007319319993257523,
+  "force_magnitude_peak": 0.0074343131855130196,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 318,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfcd53a44857cd0014bde20f0e6f45c73ed940fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000319/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.766666666666667,
+  "contact_ratio": 0.8167701863354038,
+  "avg_contact_area": 33720.31939163498,
+  "contact_entropy": 0.6637022381610621,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 319,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71b02821eb5ca3f142524023108b15b6195083f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010457615368068218,
+  "shear_peak": 0.01092024426907301,
+  "force_magnitude_peak": 0.01511996891349554,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 320,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..489ff199a63d26cea87bec8358d1d6afd78d4f60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000320/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017211467027664185,
+  "shear_peak": 0.005638482980430126,
+  "force_magnitude_peak": 0.017686814069747925,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 320,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d93b8773aa6295048ce0b94cb0de5ccbab20c675
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000324/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.8338028169014085,
+  "avg_contact_area": 6633.152027027027,
+  "contact_entropy": 0.4860537846396856,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000327/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000327/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa21da2fd5fc7bbd23c7a31b9b24cbb02ee069
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000327/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018953267484903336,
+  "shear_peak": 0.010297667235136032,
+  "force_magnitude_peak": 0.02059316635131836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 327,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f7c9dcf4c6ee030ef5283fee323caf3aeab6a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000329/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.6666666666666666,
+  "avg_contact_area": 1756.4310344827586,
+  "contact_entropy": 0.4486718578696246,
+  "total_frames": 435,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 329,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000332/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000332/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c99752a5a25da38a344cf6bbe646fc183d2168
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000332/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003099680645391345,
+  "shear_peak": 0.0021536527201533318,
+  "force_magnitude_peak": 0.003119344124570489,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 332,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000338/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000338/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa7d267bca5f2d96a1332d2b157ab3b5f6655082
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000338/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019083941588178277,
+  "shear_peak": 0.005929999519139528,
+  "force_magnitude_peak": 0.005967947654426098,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 338,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28790cb5d83e739d21dcf0ee0249e46f66d92160
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000339/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008548878133296967,
+  "shear_peak": 0.0030048952903598547,
+  "force_magnitude_peak": 0.008612137287855148,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 339,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33868040593bdcd134f30d6b6df8734bbd827757
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000343/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.733333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 12642.392670157067,
+  "contact_entropy": 0.6583058385664666,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000344/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000344/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a50e2a478a8e4a450432e4d3e0e9f38424e4e99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000344/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.833333333333332,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6881.571962616822,
+  "contact_entropy": 0.832284030480062,
+  "total_frames": 535,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 344,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000346/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000346/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21cde013ddd8aa31c08a771965e81b6917a638ee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000346/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017247026786208153,
+  "shear_peak": 0.006041353568434715,
+  "force_magnitude_peak": 0.017397142946720123,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 346,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000347/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000347/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc338ef4778aaee1cc80d58120574ae7eb4598fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000347/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.8071895424836601,
+  "avg_contact_area": 5672.781376518219,
+  "contact_entropy": 0.8990222211166616,
+  "total_frames": 306,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 347,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ba86feff8c362fdb3c60427a4fc5ec775215f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000350/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.6455331412103746,
+  "avg_contact_area": 2417.9241071428573,
+  "contact_entropy": 0.5608653104667867,
+  "total_frames": 347,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 350,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000351/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000351/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9367e99f37f17cf7010fd6c6bf3bfbdfb653b6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000351/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.766666666666667,
+  "contact_ratio": 0.7664473684210527,
+  "avg_contact_area": 900.8755364806867,
+  "contact_entropy": 0.004804695612148959,
+  "total_frames": 304,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 351,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000354/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000354/gripper_right_tactile_contact_metrics.json
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