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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/annotations.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8bde0b9377f63bdd39d3b8d1060bea9ceb1f03ca
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,56 @@
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+{"source_uid": "6f1467dc4027dec1", "num_frames": 606, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box.", "tags": {"task_name": "Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box.", "task_instruction": "Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box.", "scene_description": "A table with a ball, a cup and a box placed at random positions.", "success_criteria": "The ball is placed in the cup and the cup is placed in the box.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 208, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 256, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 296, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 297, "end_step": 410, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 463, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 537, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 208, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 256, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 296, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 297, "end_step": 410, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 463, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 537, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/pick_ball_place_cup_and_pick_cup_place_box/season_POC22018_2026_05_07_13_43_30_train/POC22018_2026_05_07_14_11_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "09f6d37ffc490ecb", "num_frames": 704, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box.", "tags": {"task_name": "Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box.", "task_instruction": "Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box.", "scene_description": "A table with a ball, a cup and a box placed at random positions.", "success_criteria": "The ball is placed in the cup and the cup is placed in the box.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 230, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 299, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 355, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 502, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 503, "end_step": 573, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 626, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 230, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 299, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 355, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 502, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 503, "end_step": 573, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 626, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/pick_ball_place_cup_and_pick_cup_place_box/season_POC22018_2026_05_07_13_43_30_train/POC22018_2026_05_07_14_11_32_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27f669542b7a3b2f49a36fc708e7444d84c164e
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,56 @@
+{"episode_index": 0, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 637}
+{"episode_index": 1, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 559}
+{"episode_index": 2, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 530}
+{"episode_index": 3, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 557}
+{"episode_index": 4, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 600}
+{"episode_index": 5, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 571}
+{"episode_index": 6, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 552}
+{"episode_index": 7, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 573}
+{"episode_index": 8, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 583}
+{"episode_index": 9, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 594}
+{"episode_index": 10, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 550}
+{"episode_index": 11, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 516}
+{"episode_index": 12, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 519}
+{"episode_index": 13, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 584}
+{"episode_index": 14, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 662}
+{"episode_index": 15, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 533}
+{"episode_index": 16, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 552}
+{"episode_index": 17, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 561}
+{"episode_index": 18, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 534}
+{"episode_index": 19, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 540}
+{"episode_index": 20, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 616}
+{"episode_index": 21, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 574}
+{"episode_index": 22, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 608}
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+{"episode_index": 32, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 579}
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+{"episode_index": 54, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 606}
+{"episode_index": 55, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 704}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71923f5d58933d35f8c9efa5e7f7f6406a2d18ec
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,56 @@
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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/info.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1594a000d81cad8c51da2fae9f78d3b4efc76a13
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "left_arm_tcp_pose_1",
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+                "right_arm_tcp_pose_0",
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+                "right_arm_tcp_pose_0",
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+        }
+    }
+}
\ No newline at end of file
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/modality.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/modality.json
new file mode 100644
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+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
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+      "original_key": "observation.images.tactile_raw"
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+      "absolute": true,
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+}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/subtasks.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pick up the ball. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the ball above the cup. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the ball into the cup. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Move the cup above the box. | Skill: move"}
+{"subtask_index": 5, "subtask": "Place the cup into the box. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/tasks.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/v40_validation.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v2.1/meta/v40_validation.json
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+{
+  "status": "passed",
+  "episodes": 56,
+  "frames": 32258,
+  "video_frames": {
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+    "observation.images.wrist_left": 32258,
+    "observation.images.wrist_right": 32258,
+    "observation.images.head_right": 32258,
+    "observation.images.tactile_deform": 32258,
+    "observation.images.tactile_raw": 32258
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 56
+}
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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/annotations.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8bde0b9377f63bdd39d3b8d1060bea9ceb1f03ca
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,56 @@
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+}
\ No newline at end of file
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/modality.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_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_13_43_30_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/stats.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0021095ba303f6cb059095c6e87347aed9730c7c
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_13_43_30_train/lerobot_v3.0/meta/stats.json
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d8e0dd2308b627a153020b1257847e17f681d46
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,9 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9284dd1db4cfcde752d65ef02764f388ddd14476
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,9 @@
+{"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": 1480}
+{"episode_index": 1, "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": 1261}
+{"episode_index": 2, "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": 1021}
+{"episode_index": 3, "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": 983}
+{"episode_index": 4, "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": 1140}
+{"episode_index": 5, "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": 1217}
+{"episode_index": 6, "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": 1252}
+{"episode_index": 7, "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": 1015}
+{"episode_index": 8, "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": 882}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4eab2df3d9ad11b9a8d194b923c034ed8ec958e5
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,9 @@
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[[[0.16870401799678802]], [[0.16719071567058563]], [[0.16645532846450806]]], "count": [882]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35868626832962036]], [[0.35228708386421204]], [[0.3488982021808624]]], "std": [[[0.2584877610206604]], [[0.25537288188934326]], [[0.255557119846344]]], "count": [882]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764706015586853]], [[0.7764706015586853]], [[0.7764706015586853]]], "mean": [[[0.0021733425091952085]], [[0.0021733425091952085]], [[0.0021733425091952085]]], "std": [[[0.030435584485530853]], [[0.030435584485530853]], [[0.030435584485530853]]], "count": [882]}, "observation.images.tactile_raw": {"min": [[[0.05098039284348488]], [[0.05098039284348488]], [[0.05098039284348488]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4814111590385437]], [[0.4814111590385437]], [[0.4814111590385437]]], "std": [[[0.15906977653503418]], [[0.15906977653503418]], [[0.15906977653503418]]], "count": [882]}}}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/info.json b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..85391af153e8e877d3040257cad37145fd2f8ffb
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 9,
+    "total_frames": 10251,
+    "total_tasks": 1,
+    "total_videos": 54,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:9"
+    },
+    "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_17_06_13_train/lerobot_v2.1/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_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_17_06_13_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",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v2.1/meta/subtasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_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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+{"task_index": 0, "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."}
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+{
+  "status": "passed",
+  "episodes": 9,
+  "frames": 10251,
+  "video_frames": {
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+    "observation.images.tactile_deform": 10251,
+    "observation.images.tactile_raw": 10251
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 9
+}
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d8e0dd2308b627a153020b1257847e17f681d46
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,9 @@
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+                "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": {
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+                "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": {
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+                "video.width": 1200,
+                "video.codec": "h264",
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+                "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": {
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+                "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": {
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+            "names": null
+        },
+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "index": {
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+            "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_17_06_13_train/lerobot_v3.0/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/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",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/stats.json b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3a8855dc4df5c2dac2e03c774b1cf24c6a41aa1
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_19_17_06_13_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98f393017cbaf8360e6f5a06e361bc01003e3972
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,13 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9de9d2c62bf3f87059d43ab0507522cf7829df68
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,13 @@
+{"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": 1386}
+{"episode_index": 1, "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": 999}
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+{"episode_index": 3, "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": 962}
+{"episode_index": 4, "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": 1381}
+{"episode_index": 5, "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": 901}
+{"episode_index": 6, "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": 1091}
+{"episode_index": 7, "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": 1009}
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+{"episode_index": 10, "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": 1844}
+{"episode_index": 11, "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": 1332}
+{"episode_index": 12, "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": 1064}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cc6629072156d716ec3fb624e8bc8fe6b7e9df9
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,13 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/info.json b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c3d1d3a305a98e0ac61d8fbac3f8220cfbf8c6
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "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": {
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+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
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+            "dtype": "video",
+            "shape": [
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+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
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+                1
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+            "names": null
+        },
+        "frame_index": {
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+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_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_20_10_23_05_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",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/subtasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42844ec003ccc6053ae668eb82f22afe28021b24
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"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."}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/tasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "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."}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/v40_validation.json b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 13,
+  "frames": 15532,
+  "video_frames": {
+    "observation.images.head_left": 15532,
+    "observation.images.wrist_left": 15532,
+    "observation.images.wrist_right": 15532,
+    "observation.images.head_right": 15532,
+    "observation.images.tactile_deform": 15532,
+    "observation.images.tactile_raw": 15532
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 13
+}
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98f393017cbaf8360e6f5a06e361bc01003e3972
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,13 @@
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+                "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"
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
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+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "video.codec": "h264",
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+            "names": [
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+                "video.codec": "h264",
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+                "has_audio": false
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+                "video.codec": "h264",
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+            "names": [
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+                "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": {
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+                1200,
+                3
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+            "names": [
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+        "frame_index": {
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+            "names": null
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+        "episode_index": {
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+        "index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    "head_right": {
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+    "tactile_deform": {
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+    },
+    "tactile_raw": {
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+    }
+  },
+  "annotation": {
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+  },
+  "state": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
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+  },
+  "action": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/stats.json b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3ee6cb127695c700ef851adb786bc5de6e5f75c
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_10_23_05_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/annotations.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39f26acc59e13b5d298e7f613ee6e0c441d6945c
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,32 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07dfda87356801da20618b3884ae96e13ffceed5
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,32 @@
+{"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": 497}
+{"episode_index": 1, "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": 490}
+{"episode_index": 2, "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": 503}
+{"episode_index": 3, "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": 473}
+{"episode_index": 4, "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": 542}
+{"episode_index": 5, "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": 619}
+{"episode_index": 6, "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": 464}
+{"episode_index": 7, "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": 523}
+{"episode_index": 8, "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": 653}
+{"episode_index": 9, "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": 493}
+{"episode_index": 10, "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": 435}
+{"episode_index": 11, "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": 414}
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+{"episode_index": 21, "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": 438}
+{"episode_index": 22, "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": 502}
+{"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": 404}
+{"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": 386}
+{"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": 414}
+{"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": 407}
+{"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": 411}
+{"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": 427}
+{"episode_index": 29, "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": 438}
+{"episode_index": 30, "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": 545}
+{"episode_index": 31, "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": 447}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f25a550591dabd9c5516d9e108bb25cf2e662671
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,32 @@
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diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/info.json b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee6392d951f28bcb574267cb5abfb329e381385
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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",
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+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "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_20_20_12_02_train/lerobot_v2.1/meta/modality.json b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_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_20_20_12_02_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",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/subtasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42844ec003ccc6053ae668eb82f22afe28021b24
--- /dev/null
+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"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."}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/tasks.jsonl b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "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."}
diff --git a/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/v40_validation.json b/place_books_on_shelf/season_POC22007_2026_03_20_20_12_02_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 32,
+  "frames": 14838,
+  "video_frames": {
+    "observation.images.head_left": 14838,
+    "observation.images.wrist_left": 14838,
+    "observation.images.wrist_right": 14838,
+    "observation.images.head_right": 14838,
+    "observation.images.tactile_deform": 14838,
+    "observation.images.tactile_raw": 14838
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 32
+}
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