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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/annotations.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87950749c3eb110ed176de9a97d72bef28aaa39d
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,156 @@
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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/modality.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/modality.json
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+}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/stats.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee9526f8cce24117f25de605b6af17e593d7840f
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v3.0/meta/stats.json
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a5efcccec57fab3eadd049b5b07d1ff29c1084b6
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,29 @@
+{"source_uid": "ebe2edd58d1a2dd4", "num_frames": 1112, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 283, "id": "subtask-001", "text": "Pick up the first book from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 284, "end_step": 349, "id": "subtask-002", "text": "Move the first book to the bookshelf. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 577, "id": "subtask-003", "text": "Place the first book on the bookshelf. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 829, "id": "subtask-004", "text": "Pick up the second book from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 830, "end_step": 934, "id": "subtask-005", "text": "Move the second book to the bookshelf. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 1039, "id": "subtask-006", "text": "Place the second book on the bookshelf. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 283, "id": "subtask-001", "text": "Pick up the first book from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 284, "end_step": 349, "id": "subtask-002", "text": "Move the first book to the bookshelf. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 577, "id": "subtask-003", "text": "Place the first book on the bookshelf. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 829, "id": "subtask-004", "text": "Pick up the second book from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 830, "end_step": 934, "id": "subtask-005", "text": "Move the second book to the bookshelf. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 1039, "id": "subtask-006", "text": "Place the second book on the bookshelf. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tidy_up_the_books/season_POC22007_2026_03_19_19_19_32_train/POC22007_2026_03_19_19_19_32_train/anno.json", "tags": {"task_name": "Book Placement to Bookshelf", "task_instruction": "Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly.", "scene_description": "Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf.", "success_criteria": "Both target books are on the bookshelf and stationary in a neat arrangement.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca4d0e73ad12affdb9bcedcab5cbad2a994b8
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,29 @@
+{"episode_index": 0, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 1112}
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+{"episode_index": 23, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 853}
+{"episode_index": 24, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 1035}
+{"episode_index": 25, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 1052}
+{"episode_index": 26, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 1006}
+{"episode_index": 27, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 881}
+{"episode_index": 28, "tasks": ["Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."], "length": 1002}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ee627f6c730d71c387c8841ef29cb9f75884b05
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,29 @@
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[[[0.3410736322402954]], [[0.3330473005771637]], [[0.33354324102401733]]], "std": [[[0.25450193881988525]], [[0.2538905441761017]], [[0.25354334712028503]]], "count": [1002]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7215686440467834]], [[0.7215686440467834]], [[0.7215686440467834]]], "mean": [[[0.0038625190500169992]], [[0.0038625190500169992]], [[0.0038625190500169992]]], "std": [[[0.04213562607765198]], [[0.04213562607765198]], [[0.04213562607765198]]], "count": [1002]}, "observation.images.tactile_raw": {"min": [[[0.05098039284348488]], [[0.05098039284348488]], [[0.05098039284348488]]], "max": [[[0.9333333373069763]], [[0.9333333373069763]], [[0.9333333373069763]]], "mean": [[[0.4799407422542572]], [[0.4799407422542572]], [[0.4799407422542572]]], "std": [[[0.15806594491004944]], [[0.15806594491004944]], [[0.15806594491004944]]], "count": [1002]}}}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/info.json b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa0dce264b7c491a3b431cdd1f8fa3e9744ca32
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 29,
+    "total_frames": 30766,
+    "total_tasks": 1,
+    "total_videos": 174,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:29"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/subtasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_19_19_32_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pick up the first book from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the first book to the bookshelf. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the first book on the bookshelf. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the second book from the table. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Move the second book to the bookshelf. | Skill: move"}
+{"subtask_index": 5, "subtask": "Place the second book on the bookshelf. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Book Placement to Bookshelf | Instruction: Pick up the first book, move it to the bookshelf, and place it neatly. Then pick up the second book, move it to the bookshelf, and place it neatly. | Scene: Several books are scattered on the table, and two target books need to be picked up one by one and placed neatly on the bookshelf. | Success: Both target books are on the bookshelf and stationary in a neat arrangement."}
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+{
+  "status": "passed",
+  "episodes": 29,
+  "frames": 30766,
+  "video_frames": {
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+    "observation.images.wrist_left": 30766,
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+    "observation.images.tactile_raw": 30766
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 29
+}
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