diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000310/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000310/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a2638e0bf786d89fad8accf0bb7b9effb7bb6a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000310/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.7,
+  "contact_ratio": 0.7965517241379311,
+  "avg_contact_area": 2991.87012987013,
+  "contact_entropy": 0.37152820361225947,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 310,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000317/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000317/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1bd5ad79651c34b2fba46ef64d4b34c7a3d06e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000317/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.837465564738292,
+  "avg_contact_area": 3269.871710526316,
+  "contact_entropy": 0.2604566169824116,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000323/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000323/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..609018d8b1c20e4f80af068492937e1844da055d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000323/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.266666666666666,
+  "contact_ratio": 0.9168141592920354,
+  "avg_contact_area": 4757.859073359074,
+  "contact_entropy": 0.46314523493702237,
+  "total_frames": 565,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 323,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000328/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000328/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13837281112ec9021229d9a0eeb860d87f675e89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000328/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.8695652173913043,
+  "avg_contact_area": 5419.707142857143,
+  "contact_entropy": 0.43611395691180405,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000330/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000330/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c60d4bad90080b07e14d0b269ff9f86864afd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000330/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011116927489638329,
+  "shear_peak": 0.0030350657179951668,
+  "force_magnitude_peak": 0.011346840299665928,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 330,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000335/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000335/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf83eee9d4b7610889d751de87a3262a608f3d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000335/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006952544208616018,
+  "shear_peak": 0.0033227154053747654,
+  "force_magnitude_peak": 0.007620222866535187,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 335,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000336/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000336/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef43416599584672dce76d7e12d551dfa263a0b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000336/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01577119342982769,
+  "shear_peak": 0.0021340230014175177,
+  "force_magnitude_peak": 0.015771320089697838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000338/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000338/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71d0e59eefc6903dac1838a007f5917cd2b3f5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000338/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.4,
+  "contact_ratio": 0.8701298701298701,
+  "avg_contact_area": 2313.3258706467664,
+  "contact_entropy": 0.33571953945665567,
+  "total_frames": 462,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 338,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000341/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000341/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfdd80a9a0e628f16f76339e3348ed5766186018
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000341/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018440800486132503,
+  "shear_peak": 0.0030188518576323986,
+  "force_magnitude_peak": 0.00352404173463583,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 341,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5fd48bc84c11d1aec7547d4be1dcd1d14e80f02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003831358626484871,
+  "shear_peak": 0.0037596423644572496,
+  "force_magnitude_peak": 0.004668075125664473,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000349/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000349/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23585ae282724677dece9a3a390aab5ec6b75c6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000349/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.2,
+  "contact_ratio": 0.8780487804878049,
+  "avg_contact_area": 8303.87962962963,
+  "contact_entropy": 0.23237567537213633,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 349,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b5d82922bcbc008e35cb9a66964a2dc6ab1c6a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.8338028169014085,
+  "avg_contact_area": 6378.574324324324,
+  "contact_entropy": 0.47048025908736574,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 350,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000351/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000351/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e734fe18169a5a5ff847cc6d26384da062e00db9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000351/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00621361518278718,
+  "shear_peak": 0.005646165460348129,
+  "force_magnitude_peak": 0.006746272556483746,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 351,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000354/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000354/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfeb3d7a48f3772598ab8f633ae138e224ee639a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000354/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.0,
+  "contact_ratio": 0.9230769230769231,
+  "avg_contact_area": 1954.8138888888889,
+  "contact_entropy": 0.42342662472937675,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 354,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..104bd74b184747d715364afae029311f0b3dfabb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.9205882352941176,
+  "avg_contact_area": 5186.725239616613,
+  "contact_entropy": 0.3704030135746221,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a817e95d834a3a650de7d7b0cf0ea7b32dfe141
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013284285552799702,
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+  "force_magnitude_peak": 0.013285001739859581,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 363,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a898f25d103bd9eb9338f2ed1317a88fe842512
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000363/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 9639.692307692309,
+  "contact_entropy": 0.34227304578731826,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 363,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000367/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000367/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4d13d1c9a83141743fc612cd366b38f0238043
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000367/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005353752989321947,
+  "shear_peak": 0.003329544560983777,
+  "force_magnitude_peak": 0.005360202398151159,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 367,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18003cac1bfb5e3622276c12d72e0d9aaeb6a34f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.9726651480637813,
+  "avg_contact_area": 3346.313817330211,
+  "contact_entropy": 0.43754187897301466,
+  "total_frames": 439,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 368,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000370/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000370/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..981974a034c31e7ff48dcd9b69b3c64ab5e73087
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000370/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013926718384027481,
+  "shear_peak": 0.007047287654131651,
+  "force_magnitude_peak": 0.015350054018199444,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 370,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000375/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000375/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71dab44f6ac544a2a5450a4bde40e9793b93f85
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000375/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0041149938479065895,
+  "shear_peak": 0.00369491009041667,
+  "force_magnitude_peak": 0.005095922853797674,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 375,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8ca3cd4541170ffcd5979ee3e390f898d74abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8993288590604027,
+  "avg_contact_area": 7136.548507462687,
+  "contact_entropy": 0.44634875868843776,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 376,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e863fa8d238d56241266fdc329019d50d4d569
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000376/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016726020723581314,
+  "shear_peak": 0.002923602005466819,
+  "force_magnitude_peak": 0.01685139909386635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98bc8fe786a499bac6da60e86c356c2bab0ecfc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013067195191979408,
+  "shear_peak": 0.009284419007599354,
+  "force_magnitude_peak": 0.015863947570323944,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da94f8269d033ef6d31e8abe27ef33d4f56b73de
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000378/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.366666666666667,
+  "contact_ratio": 0.9685990338164251,
+  "avg_contact_area": 5627.985037406484,
+  "contact_entropy": 0.5768876008879478,
+  "total_frames": 414,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 378,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000379/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000379/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..468096cd0f5a75f23e70d0035ba76a0a09d04fc9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000379/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.733333333333333,
+  "contact_ratio": 0.8848484848484849,
+  "avg_contact_area": 5900.5,
+  "contact_entropy": 0.5074490132984849,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 379,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000381/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000381/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6089cdcff0226708dc8ef43253c5c95e5bec87be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000381/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011282399296760559,
+  "shear_peak": 0.0037847969215363264,
+  "force_magnitude_peak": 0.011839325539767742,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 381,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf55904d9b236f6fe58503e97c2ff204715eea8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003546343883499503,
+  "shear_peak": 0.0042985714972019196,
+  "force_magnitude_peak": 0.004522522911429405,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 385,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000386/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000386/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..750334944659c3c8edbddba2d7f7b1d0374d9695
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000386/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.9518072289156626,
+  "avg_contact_area": 6817.265822784811,
+  "contact_entropy": 0.5152663870696947,
+  "total_frames": 332,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 386,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000389/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000389/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddfab018ee5273e2b61dca1d2c246d149f920e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000389/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.5,
+  "contact_ratio": 0.8284883720930233,
+  "avg_contact_area": 5447.512280701754,
+  "contact_entropy": 0.2944401652580149,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 389,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba1335fde97504cdd12255e84d0462bb4220a428
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.966666666666667,
+  "contact_ratio": 0.9088397790055248,
+  "avg_contact_area": 2602.003039513678,
+  "contact_entropy": 0.2054311017174476,
+  "total_frames": 362,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 390,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000391/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000391/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1817edb60acf2a8a0c74ffa4bfe577d7b5029c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000391/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006856933701783419,
+  "shear_peak": 0.005446027964353561,
+  "force_magnitude_peak": 0.007053281646221876,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 391,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000394/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000394/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a171e1156d8dc26ae82463366867f2c1a40d09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000394/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8121212121212121,
+  "avg_contact_area": 1749.4850746268658,
+  "contact_entropy": 0.15425129652298164,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 394,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8b4fda0fee53aa7f56fdc9c4662e07289e427e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.7,
+  "contact_ratio": 0.9093484419263456,
+  "avg_contact_area": 4314.517133956387,
+  "contact_entropy": 0.3620296126428262,
+  "total_frames": 353,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2f34499a2a49e3e463a70fade1a745ff3fe336
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007693267893046141,
+  "shear_peak": 0.006065170746296644,
+  "force_magnitude_peak": 0.008221639320254326,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 403,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6601e060011c488e15ca71808900139d7ab37c59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000403/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.933333333333334,
+  "contact_ratio": 0.9283489096573209,
+  "avg_contact_area": 5894.3892617449665,
+  "contact_entropy": 0.24382070976908876,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 403,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000407/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000407/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..090e0f9da101754b92fff0bb347eee038119cb53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000407/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038544945418834686,
+  "shear_peak": 0.008656208403408527,
+  "force_magnitude_peak": 0.009310918860137463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 407,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ac1d1c8035b776be71a14fb47cb04e8765d1fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.9818181818181818,
+  "avg_contact_area": 1779.3185185185184,
+  "contact_entropy": 0.22577912969570396,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 408,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000410/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000410/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a3b0de8bfc005b3f6a4f8d88a0d853df1651ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000410/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006644925568252802,
+  "shear_peak": 0.0029193037189543247,
+  "force_magnitude_peak": 0.006756251212209463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000415/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000415/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f44f013b27d82401565aae2a7e58b5faa7fde8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000415/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005181229207664728,
+  "shear_peak": 0.003172106808051467,
+  "force_magnitude_peak": 0.006067785434424877,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 415,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2e967989aca814ace7953720b77967f817eeee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.7,
+  "contact_ratio": 0.9777158774373259,
+  "avg_contact_area": 3730.011396011396,
+  "contact_entropy": 0.27808015834112954,
+  "total_frames": 359,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 416,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e153863c22708532df3d7c17c240936f68144b9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000416/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008550443686544895,
+  "shear_peak": 0.003322615986689925,
+  "force_magnitude_peak": 0.008777662180364132,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..771ac50805531b2089e45f1a8db8a7b84c4362a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015868017449975014,
+  "shear_peak": 0.009103197604417801,
+  "force_magnitude_peak": 0.015977025032043457,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de1e9ae9e3e1ef10749a8b6ef895981335b9aea8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000418/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.5,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5730.034108527132,
+  "contact_entropy": 0.5556203446180755,
+  "total_frames": 645,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 418,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000419/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000419/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..375c44ec936b3dcada620e608d3274a658d145d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000419/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 0.9784615384615385,
+  "avg_contact_area": 3924.6572327044023,
+  "contact_entropy": 0.3906788834107908,
+  "total_frames": 325,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 419,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000421/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000421/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ca60900397c498355865a066566097aa0f9b66
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000421/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013271698728203773,
+  "shear_peak": 0.008561629801988602,
+  "force_magnitude_peak": 0.015493477694690228,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 421,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4dc9c7d9290243dd58737443fff8df96d2ac20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015347964130342007,
+  "shear_peak": 0.00553143210709095,
+  "force_magnitude_peak": 0.016124147921800613,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9a1371e5a644a719b114ced651d0deed5fb0e82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016523711383342743,
+  "shear_peak": 0.0049843261949718,
+  "force_magnitude_peak": 0.017159495502710342,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 425,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000426/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000426/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ada17454bb4ff4ecfd443a3e655cde8784f9d51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000426/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.433333333333334,
+  "contact_ratio": 0.9840319361277445,
+  "avg_contact_area": 5490.59229208925,
+  "contact_entropy": 0.3857355465970309,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 426,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000429/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000429/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..348e24ccadc0c5afa081779c80dddc4d9cb7ea95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000429/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.8110236220472441,
+  "avg_contact_area": 6717.868932038835,
+  "contact_entropy": 0.5110098285212643,
+  "total_frames": 254,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 429,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a76d2377bdd5f471658c7060fc2eeb9e08da435
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2857.8602540834845,
+  "contact_entropy": 0.37972865752826446,
+  "total_frames": 551,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000431/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000431/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89bb24ab772037914bb35b5d28ccdda0c11fcc7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000431/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034138839691877365,
+  "shear_peak": 0.002723479177802801,
+  "force_magnitude_peak": 0.004367143381386995,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 431,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000434/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000434/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5373efe3aeb189caf2b01fc3ba704911678a35eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000434/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.633333333333333,
+  "contact_ratio": 0.9045307443365695,
+  "avg_contact_area": 2632.8890876565297,
+  "contact_entropy": 0.18201143897465102,
+  "total_frames": 618,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 434,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000437/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000437/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..750e89f5e69f3b93e4f814aa462b8b9390b79e70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000437/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.533333333333333,
+  "contact_ratio": 0.9783549783549783,
+  "avg_contact_area": 8439.632743362832,
+  "contact_entropy": 0.5998647674455738,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed4cb7d7a1517b373e2af47e46ceb54d9744e630
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003774415235966444,
+  "shear_peak": 0.003969760611653328,
+  "force_magnitude_peak": 0.004487167112529278,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 443,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fed097d60cec624e6c3b34d152bb9d61cf8b58d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000443/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.803088803088803,
+  "avg_contact_area": 8853.557692307691,
+  "contact_entropy": 0.5146881683843519,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 443,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db724b8a60c820ac57e998f502727b1accb824a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.433333333333334,
+  "contact_ratio": 0.9108469539375929,
+  "avg_contact_area": 4016.1957585644373,
+  "contact_entropy": 0.44513068407511425,
+  "total_frames": 673,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 448,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000450/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000450/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..427a69c7daa63b7f97aa3107841b9ae8903abb34
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000450/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014504088088870049,
+  "shear_peak": 0.00995364598929882,
+  "force_magnitude_peak": 0.015073981136083603,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 450,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000455/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000455/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b81769fa1f77fd5345a940b606711fe7f52423e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000455/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009506125934422016,
+  "shear_peak": 0.004410541616380215,
+  "force_magnitude_peak": 0.01047947071492672,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 455,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71972946f35aa024115d3ad753b4409c075c6342
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 26.066666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3952.695652173913,
+  "contact_entropy": 0.41439028257991134,
+  "total_frames": 782,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 456,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..851fc2912927658453e7980b9937635a8831dbd2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000456/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005753429140895605,
+  "shear_peak": 0.0038843124639242887,
+  "force_magnitude_peak": 0.006582922767847776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b916cfa77f30c90b2d24f91430ee27f24490d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012443823739886284,
+  "shear_peak": 0.005425004754215479,
+  "force_magnitude_peak": 0.01276595052331686,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b99d8bd5fb19af1ec35ecf21eaa1c0f6890c66
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000458/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 28.466666666666665,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2041.7002341920374,
+  "contact_entropy": 0.32381288340231706,
+  "total_frames": 854,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 458,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000459/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000459/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..478d24c11588c303506bacd3ea459c9d13e3bc82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000459/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.9016393442622951,
+  "avg_contact_area": 8644.389090909091,
+  "contact_entropy": 0.4337211570646011,
+  "total_frames": 305,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 459,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000461/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000461/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..718315bf15a8d4e3bb8a514783cb14d773862f3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000461/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010346352122724056,
+  "shear_peak": 0.005496540106832981,
+  "force_magnitude_peak": 0.010915261693298817,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 461,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42bbae4bb3cd3452f0bdf710824e201fe5f756b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013644769787788391,
+  "shear_peak": 0.003820140613242984,
+  "force_magnitude_peak": 0.013850285671651363,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0ba8e70b294b63ec74ac50c4703cc9091c4b62
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.025873282924294472,
+  "shear_peak": 0.002883176552131772,
+  "force_magnitude_peak": 0.025998707860708237,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 465,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000466/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000466/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea6d971882728a2eee62366cc67c13d38b5f024
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000466/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.9,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2806.4435146443516,
+  "contact_entropy": 0.37279182032061936,
+  "total_frames": 717,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 466,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000469/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000469/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5cbf4f58999bcb75369e0d5449eede18c14692e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000469/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.8957528957528957,
+  "avg_contact_area": 6504.318965517241,
+  "contact_entropy": 0.6090741323928811,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 469,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b054fb48e336212304ebeb801d3b9281d15c4145
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.333333333333332,
+  "contact_ratio": 0.957592339261286,
+  "avg_contact_area": 2451.637142857143,
+  "contact_entropy": 0.17886295284393142,
+  "total_frames": 731,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000471/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000471/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e715ea509f1a05789fb8d2a0476559b5961251be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000471/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003964623436331749,
+  "shear_peak": 0.0037089765537530184,
+  "force_magnitude_peak": 0.004647536668926477,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 471,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000474/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000474/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..febd094ae132f52f41f26ecae742d06bb58558ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000474/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.133333333333333,
+  "contact_ratio": 0.9527145359019265,
+  "avg_contact_area": 1285.4908088235295,
+  "contact_entropy": 0.11845933162749944,
+  "total_frames": 571,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 474,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78185c2a4c6a6191d496ae0ec9d5ea4d868cc84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.266666666666667,
+  "contact_ratio": 0.8825396825396825,
+  "avg_contact_area": 9012.179856115108,
+  "contact_entropy": 0.3732003614885903,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000483/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000483/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..146fbd0f60014e5e047dbc9272d8a2115ed964f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000483/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.533333333333333,
+  "contact_ratio": 0.9914040114613181,
+  "avg_contact_area": 12175.947976878613,
+  "contact_entropy": 0.5772996912134298,
+  "total_frames": 349,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 483,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000487/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000487/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8ca6442493e2b97f42312a339a22c6e1cb4c88a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000487/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009249583818018436,
+  "shear_peak": 0.003499672282487154,
+  "force_magnitude_peak": 0.005629926919937134,
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+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 487,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e675917624d086f617605d610ae75df1f68248
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.6593406593406593,
+  "avg_contact_area": 1120.375,
+  "contact_entropy": 0.15919869060123598,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 488,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000490/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000490/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63a3c6fb2bd80cf6353b94220c9664fd6d3c7d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000490/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007145953364670277,
+  "shear_peak": 0.00291095650754869,
+  "force_magnitude_peak": 0.007177422288805246,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 490,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..823cd043d6a2c710b1ced2359ecdfefd1fa1b908
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016961399232968688,
+  "shear_peak": 0.005233495496213436,
+  "force_magnitude_peak": 0.006220771931111813,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f902cbeed5bb18751a1d178b5af09675250e0dec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000498/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.366666666666666,
+  "contact_ratio": 0.7670682730923695,
+  "avg_contact_area": 3915.193717277487,
+  "contact_entropy": 0.07518784157208869,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000499/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000499/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7015189def8f562d3a260d70f6535887decffefe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000499/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.6571428571428571,
+  "avg_contact_area": 2707.782608695652,
+  "contact_entropy": 0.03810940468291112,
+  "total_frames": 175,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 499,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000501/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000501/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0780d24341f9dd6aa5be7d5c34395c077cdf415f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000501/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016601054230704904,
+  "shear_peak": 0.0033562430180609226,
+  "force_magnitude_peak": 0.0034399719443172216,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 501,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfcfbfdf7ea1fe628583e877f9c5253173b7bb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014309274265542626,
+  "shear_peak": 0.0014508249005302787,
+  "force_magnitude_peak": 0.0032212533988058567,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71551cc5f5d52e009dcf934e4f2713579f90f2e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001219395431689918,
+  "shear_peak": 0.002516759792342782,
+  "force_magnitude_peak": 0.0025263589341193438,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 505,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000506/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000506/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7df1e28a50d915390f1913b487b9ace1162f617
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000506/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.933333333333334,
+  "contact_ratio": 0.7478991596638656,
+  "avg_contact_area": 3652.747191011236,
+  "contact_entropy": 0.11380339161114375,
+  "total_frames": 238,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 506,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000509/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000509/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf3657006a72f1f3804831cab8b6f67309b9277
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000509/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.650887573964497,
+  "avg_contact_area": 2431.3,
+  "contact_entropy": 0.23537610637472464,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 509,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b22eabaf7a3a8ec224b996507ab125b496b5729
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.6894409937888198,
+  "avg_contact_area": 1407.1801801801803,
+  "contact_entropy": 0.20008174774265844,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000511/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000511/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46384fd487171f6f4f9dc013d377d442292cfea0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000511/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002899696584790945,
+  "shear_peak": 0.0020786449313163757,
+  "force_magnitude_peak": 0.0030154152773320675,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 511,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000514/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000514/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94eb8c8bb1ee73bdbd9311ecaa053a6dbddc1d04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000514/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.066666666666667,
+  "contact_ratio": 0.6052631578947368,
+  "avg_contact_area": 2927.25,
+  "contact_entropy": 0.25756824680063944,
+  "total_frames": 152,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 514,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67898d7e6e7de23efde1a353dcda12e57a4ddc1a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.8837209302325582,
+  "avg_contact_area": 4973.763157894737,
+  "contact_entropy": 0.7594811817117486,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 517,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3f0ab67a8ae673b050ea2bc5bc4fc0a8d03045
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014694101409986615,
+  "shear_peak": 0.0024626024533063173,
+  "force_magnitude_peak": 0.0025056437589228153,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 523,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd251f3142e8dad6957603c63b5bbd13acfa9b20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000523/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.333333333333333,
+  "contact_ratio": 0.8556149732620321,
+  "avg_contact_area": 1317.7,
+  "contact_entropy": 0.1233801093579962,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 523,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000527/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000527/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..984fbfaed81dacd006fc41df9d93c9b657a63518
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000527/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006757891387678683,
+  "shear_peak": 0.004484239500015974,
+  "force_magnitude_peak": 0.005311743821948767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 527,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06bd428c79eff72da01b4419077775e8c658b5f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.133333333333334,
+  "contact_ratio": 0.6739130434782609,
+  "avg_contact_area": 3062.7903225806454,
+  "contact_entropy": 0.2265314429273938,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 528,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000530/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000530/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e9738a5831484939fc4aa05678a10c6db15115
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000530/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010613120393827558,
+  "shear_peak": 0.0021279556676745415,
+  "force_magnitude_peak": 0.002132240915670991,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 530,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000535/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000535/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a4a71b66b1891074d6e1ad3e2b63c6cc0bc09d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000535/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009079409064725041,
+  "shear_peak": 0.0011597018456086516,
+  "force_magnitude_peak": 0.0012007210170850158,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 535,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48deb42754b78e50640e83e39c7af20ca6fd1c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.7317073170731707,
+  "avg_contact_area": 4785.15,
+  "contact_entropy": 0.20629496230519712,
+  "total_frames": 164,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 536,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..baafd9a1b88648c6ba6bbf86637ea7f68d526ef6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000536/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002858344232663512,
+  "shear_peak": 0.002682874910533428,
+  "force_magnitude_peak": 0.002869892865419388,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 536,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e20199d99a7587bc2bce17c0eed21dac31ff38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003220531390979886,
+  "shear_peak": 0.003229234367609024,
+  "force_magnitude_peak": 0.004360012710094452,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..262a0bcfa5ac0c95cce6397edf37a310ac22ba23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000538/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.8654708520179372,
+  "avg_contact_area": 7377.015544041451,
+  "contact_entropy": 0.40964804978370506,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000539/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000539/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b623c5648b68593151507d1e1708a19232f71175
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000539/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.033333333333333,
+  "contact_ratio": 0.6722222222222223,
+  "avg_contact_area": 3244.0578512396696,
+  "contact_entropy": 0.07898921496202176,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 539,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000541/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000541/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74bd2a5644ffcbc71248d4e743ebd6a55cb9313
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000541/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008728515356779099,
+  "shear_peak": 0.004096456803381443,
+  "force_magnitude_peak": 0.008985052816569805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 541,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b823fd597740a50dbfd2270302de126bdb739e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004255437757819891,
+  "shear_peak": 0.002833196660503745,
+  "force_magnitude_peak": 0.005091102793812752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 543,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..950466897a9d35affc3b78cb7ca214db3f740f07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031803068704903126,
+  "shear_peak": 0.003530618268996477,
+  "force_magnitude_peak": 0.004403030499815941,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 545,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000546/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000546/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53717e87d0bbd3fc4d71aeafa4779c4abd670eca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000546/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.7841726618705036,
+  "avg_contact_area": 2433.2752293577983,
+  "contact_entropy": 0.090495219986137,
+  "total_frames": 139,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 546,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000549/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000549/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4134daabb0ec745e4e4af193cbfff25f689af710
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000549/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.671957671957672,
+  "avg_contact_area": 2255.4251968503936,
+  "contact_entropy": 0.11058194684835713,
+  "total_frames": 189,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 549,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000550/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000550/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ebf6e433738772784c444ad49e4f5f7ea0d96c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000550/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.7467811158798283,
+  "avg_contact_area": 2117.5689655172414,
+  "contact_entropy": 0.10163448343398174,
+  "total_frames": 233,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 550,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000551/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000551/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae34c84351a1fcb4326252487c9beaca3692da1f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000551/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016951881116256118,
+  "shear_peak": 0.002183563308790326,
+  "force_magnitude_peak": 0.0026077888906002045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 551,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000554/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000554/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2816925a955240669c580680672d0935ee9ace
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000554/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.5694444444444444,
+  "avg_contact_area": 1092.1951219512196,
+  "contact_entropy": 0.043747677913630365,
+  "total_frames": 144,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 554,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000557/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000557/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9079c004bad04c28184cc147148aba0d2e2356fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000557/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.803030303030303,
+  "avg_contact_area": 1466.0235849056603,
+  "contact_entropy": 0.3259022874759842,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 557,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e324c5653cd5c73956d43a53046a202d52325b6f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00801373366266489,
+  "shear_peak": 0.004457912873476744,
+  "force_magnitude_peak": 0.008020435459911823,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 563,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a32b3a83293b0fa3823f09b2740cf1baa5d7243
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000563/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.7035175879396985,
+  "avg_contact_area": 2572.25,
+  "contact_entropy": 0.19313483527695785,
+  "total_frames": 199,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 563,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000567/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000567/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d827ad58aafe89edfb8309767d5f3f0ab1f27b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000567/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003394405823200941,
+  "shear_peak": 0.003918665926903486,
+  "force_magnitude_peak": 0.004835216794162989,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 567,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a135448a21faa60a234a8296b5938e7c978f03ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.6,
+  "contact_ratio": 0.8425531914893617,
+  "avg_contact_area": 4740.181818181818,
+  "contact_entropy": 0.5286702184439525,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 568,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000570/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000570/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b37ab3486ed8de5b8e26a9d48b54778b85603f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000570/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009693524334579706,
+  "shear_peak": 0.0033454601652920246,
+  "force_magnitude_peak": 0.0033749358262866735,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 570,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000575/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000575/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5dad15fe607bde1dbf40126244f7ca4f8efaeb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000575/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005256189499050379,
+  "shear_peak": 0.012292183935642242,
+  "force_magnitude_peak": 0.013368818908929825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 575,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b917a5483c19c99a42831257d410dc53b2a9269a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.1666666666666665,
+  "contact_ratio": 0.6209150326797386,
+  "avg_contact_area": 5276.452631578947,
+  "contact_entropy": 0.13207664745777906,
+  "total_frames": 153,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 576,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ad899cdfa7574f283579d07a856fff684070d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000576/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002276170562254265,
+  "shear_peak": 0.0017043898114934564,
+  "force_magnitude_peak": 0.0033131949603557587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 576,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23aaf290fe6aaff171a8261c1b2e0cc3d17ff1ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004225402604788542,
+  "shear_peak": 0.00242834584787488,
+  "force_magnitude_peak": 0.004873488564044237,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 578,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d07ba48e36aeac6c448ffdad24da6e0681e50b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000578/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.533333333333333,
+  "contact_ratio": 0.7412587412587412,
+  "avg_contact_area": 1360.3301886792453,
+  "contact_entropy": 0.35495056431807415,
+  "total_frames": 143,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000579/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000579/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f55d99aeb063f0a41cbe4be8b42ba57e19f331
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000579/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.1,
+  "contact_ratio": 0.9594594594594594,
+  "avg_contact_area": 3223.694835680751,
+  "contact_entropy": 0.10728416376438223,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 579,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000581/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000581/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3a95ed2cd211df829eb27ee6205c36c01b032a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000581/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001690462464466691,
+  "shear_peak": 0.0053255390375852585,
+  "force_magnitude_peak": 0.005331921856850386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 581,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae1ee17b8c20d8b72cfea911adf39dbe759fa1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007367814891040325,
+  "shear_peak": 0.003347433637827635,
+  "force_magnitude_peak": 0.007450873963534832,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 583,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c0d1f253d11a737c9ad08cea9077fbd812913b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0048493449576199055,
+  "shear_peak": 0.0029254716355353594,
+  "force_magnitude_peak": 0.005230119917541742,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 585,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000586/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000586/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ed20a8f2b3c2c374a821d11002c9966fd069782
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000586/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 0.9377777777777778,
+  "avg_contact_area": 7186.611374407583,
+  "contact_entropy": 0.24187037592659008,
+  "total_frames": 225,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 586,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000589/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000589/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..737855a88becd4bafdeb2a43c40b1b73e3bedf79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000589/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.733333333333333,
+  "contact_ratio": 0.9903846153846154,
+  "avg_contact_area": 5577.745145631068,
+  "contact_entropy": 0.2982116665738412,
+  "total_frames": 416,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 589,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c175946761ff6f40e689f8f7a51c74de835b96
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.8484848484848485,
+  "avg_contact_area": 3560.9,
+  "contact_entropy": 0.3568665236959956,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000591/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000591/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d449dda78b0bbcafd7ca924e76c51021429e87b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000591/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008213667199015617,
+  "shear_peak": 0.004727946128696203,
+  "force_magnitude_peak": 0.009430472739040852,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 591,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000594/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000594/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45fa9813a489c114a20d024ffac6ceea2c6cae88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000594/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.863905325443787,
+  "avg_contact_area": 1932.3150684931506,
+  "contact_entropy": 0.20725790597144642,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 594,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25fba80e86ffb838660b4756bb8a46ee64f69df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004513992927968502,
+  "shear_peak": 0.005551697686314583,
+  "force_magnitude_peak": 0.005836845841258764,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 603,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8de2eb96007e724fc019294153a186c8b781fe21
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000603/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.9230769230769231,
+  "avg_contact_area": 3684.266666666667,
+  "contact_entropy": 0.17181767069193776,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 603,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000607/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000607/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da667e0718cff2f8989a2fcfbd9f36911d2b8da5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000607/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027474535163491964,
+  "shear_peak": 0.001979191554710269,
+  "force_magnitude_peak": 0.0033272404689341784,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 607,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000610/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000610/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66dc925b0175eb54c56707fd65ec76d5fbb39138
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000610/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.026200735941529274,
+  "shear_peak": 0.018086666241288185,
+  "force_magnitude_peak": 0.03183718025684357,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 610,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000615/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000615/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1ad0e4d4ebb3c5d5572702b9e8986e0afeee81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000615/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014616379514336586,
+  "shear_peak": 0.0051862746477127075,
+  "force_magnitude_peak": 0.014696977101266384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 615,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00517de80953c2b045a5a9f0e95fd2ec7cbdbc86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.7,
+  "contact_ratio": 0.8507462686567164,
+  "avg_contact_area": 3521.2631578947367,
+  "contact_entropy": 0.3021899253383754,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 616,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee8ecc6522080aaf64300ca5006457267f22afa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000616/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0071741072461009026,
+  "shear_peak": 0.004110278096050024,
+  "force_magnitude_peak": 0.007353093009442091,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 616,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc938b1bf7c6f5e43a2b8686ac1e8a6d7b3e3ada
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007651505991816521,
+  "shear_peak": 0.005142629146575928,
+  "force_magnitude_peak": 0.0076766908168792725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 618,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0b2c3c7ebb5c72d325eea90ac4aca1c02d0ba8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000618/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.9184782608695652,
+  "avg_contact_area": 2299.7041420118344,
+  "contact_entropy": 0.23297129441833844,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 618,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000619/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000619/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72ef743751a88ecde68c7aa5c79c6e42d702d12b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000619/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.7449664429530202,
+  "avg_contact_area": 6057.09009009009,
+  "contact_entropy": 0.577713599975305,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 619,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000621/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000621/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81342ec6f05ced15c49b29eaa630c7df735a4cd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000621/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011263197287917137,
+  "shear_peak": 0.003420718712732196,
+  "force_magnitude_peak": 0.01176803931593895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 621,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..098b40232a404ee045ffe959179657e72ff40f01
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003767666348721832,
+  "shear_peak": 0.005114439874887466,
+  "force_magnitude_peak": 0.005623056087642908,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 623,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e61cb293d72309dea58665d23060fff1392b882
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028587239794433117,
+  "shear_peak": 0.0021713923197239637,
+  "force_magnitude_peak": 0.003030003746971488,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 625,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000626/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000626/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a83eaa10b7068b025eeada430f030c2f46162953
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000626/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.7255813953488373,
+  "avg_contact_area": 10276.903846153846,
+  "contact_entropy": 0.20347773148812842,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 626,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000629/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000629/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e4b79b8562671b572913fc743aad8345cf2fe7b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000629/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.0,
+  "contact_ratio": 0.967741935483871,
+  "avg_contact_area": 4029.9,
+  "contact_entropy": 0.5972520644575035,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 629,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25271cef422b48413827428d7faaa90bd45d97dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.9047619047619048,
+  "avg_contact_area": 7542.986842105263,
+  "contact_entropy": 0.46453395947714066,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 630,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000631/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000631/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..713a160bc32449a96ec17e5c57bfe220d0a51011
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000631/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033168368972837925,
+  "shear_peak": 0.0023755233269184828,
+  "force_magnitude_peak": 0.0037949373945593834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 631,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000634/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000634/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c770297502e54e62f96717f5aaee8f3db1a86798
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000634/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.9181286549707602,
+  "avg_contact_area": 8144.598726114649,
+  "contact_entropy": 0.41856144597125566,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 634,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..287092cf8159a168c19e6600551cf088c9b168bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.7593582887700535,
+  "avg_contact_area": 8559.68309859155,
+  "contact_entropy": 0.5382156164298652,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 637,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8121c4d260bf2c40a4a949eb3dc70e867f14d49e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01507909968495369,
+  "shear_peak": 0.006979742087423801,
+  "force_magnitude_peak": 0.015197795815765858,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 643,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1ed84aee083033aaf0407723b4e0e799443219c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000643/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.9333333333333333,
+  "avg_contact_area": 10035.916666666666,
+  "contact_entropy": 0.5896014960113777,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 643,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000647/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000647/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bdf325c0dc10d06709ce302886b278aaa109cb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000647/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00711903115734458,
+  "shear_peak": 0.0048822881653904915,
+  "force_magnitude_peak": 0.007227153982967138,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 647,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acad1a70638140953024f62c58466217996713dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.8,
+  "contact_ratio": 0.9230769230769231,
+  "avg_contact_area": 12258.475308641975,
+  "contact_entropy": 0.6447155967498368,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 648,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000650/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000650/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a5d2d14e394267e8732a52824e122110952f23f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000650/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018871398642659187,
+  "shear_peak": 0.012185857631266117,
+  "force_magnitude_peak": 0.022463856264948845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 650,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000655/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000655/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9180328cdfe79c5bbbebd946299e3b544e2990d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000655/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0041226171888411045,
+  "shear_peak": 0.0042032357305288315,
+  "force_magnitude_peak": 0.005230236332863569,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 655,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e0c5e023469ff52be3bb4e2d1fcf97f5c66f7c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.8089171974522293,
+  "avg_contact_area": 5414.614173228347,
+  "contact_entropy": 0.3325436057502165,
+  "total_frames": 157,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 656,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b404f8ef0d615351dbb5e4407636b9b183056244
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000656/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006402270402759314,
+  "shear_peak": 0.003950615879148245,
+  "force_magnitude_peak": 0.007523059844970703,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 656,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe8b94c88f9287a9d903a027dee2624a2d2b498
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004978854674845934,
+  "shear_peak": 0.0037550749257206917,
+  "force_magnitude_peak": 0.006223683711141348,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 658,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be3728499a81e267e85cadc0528816708cf171b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000658/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.966666666666667,
+  "contact_ratio": 0.7986577181208053,
+  "avg_contact_area": 12636.529411764706,
+  "contact_entropy": 0.4305290694937192,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 658,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000659/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000659/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..143bc491ab1fcbcec116a0688c1b44a347c0b770
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000659/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.3,
+  "contact_ratio": 0.7429906542056075,
+  "avg_contact_area": 11390.358490566037,
+  "contact_entropy": 0.4113617504075711,
+  "total_frames": 214,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 659,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000661/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000661/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4b46d59d878bee9dd95fb85e97def1684ed7ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000661/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0080929109826684,
+  "shear_peak": 0.004121016710996628,
+  "force_magnitude_peak": 0.008763149380683899,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 661,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3995cfa368e8f2d398cfe7365dd3f224abf2ca11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014905055984854698,
+  "shear_peak": 0.01295571867376566,
+  "force_magnitude_peak": 0.019748704507946968,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 663,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3484531e759aa96ba6af4f009fe1371e26135cfa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007031184621155262,
+  "shear_peak": 0.00466261338442564,
+  "force_magnitude_peak": 0.007841979153454304,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 665,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000666/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000666/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeabaf35b175c756e6a3aff49eb65ba6413f5440
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000666/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.8969072164948454,
+  "avg_contact_area": 11132.48275862069,
+  "contact_entropy": 0.42642019979901785,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 666,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000669/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000669/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..709f4eb39098f0d7171a5ad1a262e69de223d654
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000669/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.8941176470588236,
+  "avg_contact_area": 6060.171052631579,
+  "contact_entropy": 0.7466269353257475,
+  "total_frames": 170,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 669,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5556d0f2434586cf762029fde34f3bc9a9926d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.782608695652174,
+  "avg_contact_area": 12609.190476190477,
+  "contact_entropy": 0.5654717001001923,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 670,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000671/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000671/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..694f0f4964dcc4c9d0403dd51883aeb16dc3d9ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000671/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012613696977496147,
+  "shear_peak": 0.005888292100280523,
+  "force_magnitude_peak": 0.013096105307340622,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 671,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000674/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000674/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e4e9ea8bb9aff3642e5708ef485f9bbdb4fecf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000674/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.7354838709677419,
+  "avg_contact_area": 7723.833333333333,
+  "contact_entropy": 0.40152208725767263,
+  "total_frames": 155,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 674,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4fa725046f69495ed8ce8088c7381b3642e50e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.7759562841530054,
+  "avg_contact_area": 15075.11971830986,
+  "contact_entropy": 0.6589774582708429,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 677,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d403f2d100477304d6c36b19340676e9eb3db618
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030195799190551043,
+  "shear_peak": 0.003529058303683996,
+  "force_magnitude_peak": 0.004673726856708527,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 683,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd63bc99404e7c25b05a41052bdf016932455a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000683/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.8622448979591837,
+  "avg_contact_area": 4454.349112426035,
+  "contact_entropy": 0.689759647238594,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 683,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000687/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000687/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e8a1513536430047129c5424c5ab28d2997b2d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000687/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00581351388245821,
+  "shear_peak": 0.003564507467672229,
+  "force_magnitude_peak": 0.005835669115185738,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 687,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8d43d30455a95654a7f43d62c80ca36b12b7b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.5,
+  "contact_ratio": 0.9841628959276018,
+  "avg_contact_area": 928.9080459770115,
+  "contact_entropy": 0.23632574397027717,
+  "total_frames": 442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 688,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000690/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000690/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aaa2b9a9878fa2b6c51a75e25029647e7b2a797
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000690/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006894154939800501,
+  "shear_peak": 0.003196133067831397,
+  "force_magnitude_peak": 0.006912205833941698,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 690,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000695/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000695/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bac035b6af667ad89443c74888f7f35729c29c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000695/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004150697961449623,
+  "shear_peak": 0.0017379376804456115,
+  "force_magnitude_peak": 0.0042309570126235485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 695,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d1740b46731380231cabdb8b41e6ce13d66c8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.8557213930348259,
+  "avg_contact_area": 3394.3226744186045,
+  "contact_entropy": 0.1469476091757031,
+  "total_frames": 402,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 696,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..608234cb0d6fe82b550aa1b76fd2c313383bba4c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000696/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004649125970900059,
+  "shear_peak": 0.00455129100009799,
+  "force_magnitude_peak": 0.006390925496816635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 696,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc61c987c77fd040465ef782399958980adc25f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00943160429596901,
+  "shear_peak": 0.005169416777789593,
+  "force_magnitude_peak": 0.010284568183124065,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 698,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22ef23e2a0f86a615d1b20ef9911d5244d4dc975
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000698/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.633333333333333,
+  "contact_ratio": 0.9775910364145658,
+  "avg_contact_area": 2631.1489971346705,
+  "contact_entropy": 0.5158621293614337,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 698,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000699/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000699/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e4935b64515f4dbd0e24555416079e38104b14
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000699/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 0.8491048593350383,
+  "avg_contact_area": 2683.7289156626507,
+  "contact_entropy": 0.17607013197404217,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 699,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000701/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000701/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9d9b2c986933817504b8bdbfd8f42f51de71cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000701/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002681951504200697,
+  "shear_peak": 0.00410841777920723,
+  "force_magnitude_peak": 0.004406173713505268,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 701,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0146bc8ac060055a9e1bc052cd3816aee8e2766e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025777723640203476,
+  "shear_peak": 0.0026299336459487677,
+  "force_magnitude_peak": 0.00315281399525702,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 703,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61ff2246794779df5ec5b7589399099a6497aaf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037229862064123154,
+  "shear_peak": 0.005055067129433155,
+  "force_magnitude_peak": 0.006081422325223684,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 705,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000706/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000706/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab59c54700b4a0d097439492960d8180ff3526b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000706/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.2,
+  "contact_ratio": 0.9464788732394366,
+  "avg_contact_area": 4385.2202380952385,
+  "contact_entropy": 0.3051239947056566,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 706,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000709/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000709/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa538eac284799225fae7d64b290368fd830b81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000709/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.3,
+  "contact_ratio": 0.925754060324826,
+  "avg_contact_area": 3374.689223057644,
+  "contact_entropy": 0.4188210379571893,
+  "total_frames": 431,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 709,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b662029a39bba4ad613a9eef83d60b877b9111
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.9235668789808917,
+  "avg_contact_area": 3546.2827586206895,
+  "contact_entropy": 0.27840255343186976,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 710,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000711/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000711/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9f4b1dc3678709b6f07171a4a5a46062d3f831
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000711/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029092328622937202,
+  "shear_peak": 0.002745860954746604,
+  "force_magnitude_peak": 0.0032133155036717653,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 711,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000714/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000714/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..439365087b0bad272a111929019cf7619f99238b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000714/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.8487179487179487,
+  "avg_contact_area": 4448.7583081571,
+  "contact_entropy": 0.4538338868615382,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 714,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acad0309054423281d98c44efe379347c187d539
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.566666666666666,
+  "contact_ratio": 0.7576923076923077,
+  "avg_contact_area": 1691.8426395939086,
+  "contact_entropy": 0.3663733759431211,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 717,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b74f51cf4683c27362d9b3ceb9e9126b1eb96a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01634485274553299,
+  "shear_peak": 0.012749169953167439,
+  "force_magnitude_peak": 0.020729098469018936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 723,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40caf5cf9e49336f47f0d63bd29a5287e4df6069
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000723/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.7553191489361702,
+  "avg_contact_area": 5792.549295774648,
+  "contact_entropy": 0.06050553574947936,
+  "total_frames": 188,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 723,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000727/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000727/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da44c09ffc6a07c8d38c69073aea229619cfca3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000727/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005879346863366663,
+  "shear_peak": 0.003017327282577753,
+  "force_magnitude_peak": 0.0038611136842519045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 727,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad93c0fd2cf3551073fb7ccfad3b3aed552b35c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.8732394366197183,
+  "avg_contact_area": 18710.317204301075,
+  "contact_entropy": 0.9980316387361515,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 728,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40a75fdda493250f142128cda702488c50587d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.6289308176100629,
+  "avg_contact_area": 2105.09,
+  "contact_entropy": 0.0218600932548944,
+  "total_frames": 159,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 736,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfda81af60569a3f892047ebe384a6f0c7d1cf61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000736/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.030261337757110596,
+  "shear_peak": 0.00793497171252966,
+  "force_magnitude_peak": 0.03052825853228569,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 736,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..912d44a0893bef8920c174c4c37f649953c39c72
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004301750101149082,
+  "shear_peak": 0.0021034704986959696,
+  "force_magnitude_peak": 0.0046687256544828415,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 738,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77047b3d9c2d82240e6d6e136ea241b30af60023
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000738/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.9347826086956522,
+  "avg_contact_area": 2641.1453488372094,
+  "contact_entropy": 0.5299354554916459,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 738,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000739/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000739/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41358582c187d08b47a6cab4af5e196190ae0c5a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000739/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.8378378378378378,
+  "avg_contact_area": 3163.6774193548385,
+  "contact_entropy": 0.18893802940361165,
+  "total_frames": 185,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 739,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000741/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000741/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31689df8edfa65395712995b8b6af259809c74c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000741/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010611922480165958,
+  "shear_peak": 0.0022990417201071978,
+  "force_magnitude_peak": 0.0023052585311233997,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 741,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6a73c02e653d1f52a882fce79573a8cc77f74b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004401086829602718,
+  "shear_peak": 0.005269876215606928,
+  "force_magnitude_peak": 0.0054615275003015995,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 743,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc53dbdb8ca00101034c13d8623de66276a38f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026377078611403704,
+  "shear_peak": 0.003603857010602951,
+  "force_magnitude_peak": 0.004436750430613756,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 745,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000746/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000746/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d45d0276dc22cdab580ef384006247ea9afd5fe4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000746/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.066666666666666,
+  "contact_ratio": 0.6630434782608695,
+  "avg_contact_area": 2323.3278688524592,
+  "contact_entropy": 0.0502561196503678,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 746,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file