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+{"source_uid": "1ceafd4b257e732e", "num_frames": 974, "episode_id": "POC22027_2026_05_14_20_44_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_20_44_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_20_44_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_20_44_16_train/train_0.3.0@2026_05_14_20_44_16.hdf5", "tags": {"task_name": "fold_towel", "task_instruction": "Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side.", "scene_description": "An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace.", "success_criteria": "The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 438, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 648, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 780, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 438, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 648, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 780, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_towel | Instruction: Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side. | Scene: An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace. | Success: The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 149, "v40_language_source": "previous_published_lerobot", "episode_index": 141}
diff --git a/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/annotations.jsonl b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be367d84b05319e26f76c9f4c9346c4b63b7f8fe
--- /dev/null
+++ b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,142 @@
+{"source_uid": "9e5fb7756d167629", "num_frames": 1484, "episode_id": "POC22027_2026_05_14_15_37_36_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_37_36_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_37_36_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_37_36_train/train_0.3.0@2026_05_14_15_37_36.hdf5", "tags": {"task_name": "fold_towel", "task_instruction": "Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side.", "scene_description": "An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace.", "success_criteria": "The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 766, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 841, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1097, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1098, "end_step": 1292, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 766, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 841, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1097, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1098, "end_step": 1292, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_towel | Instruction: Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side. | Scene: An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace. | Success: The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "101316b23de6eda4", "num_frames": 1085, "episode_id": "POC22027_2026_05_14_15_38_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_38_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_38_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_towel/season_POC22027_2026_05_14_15_37_36_train/POC22027_2026_05_14_15_38_32_train/train_0.3.0@2026_05_14_15_38_32.hdf5", "tags": {"task_name": "fold_towel", "task_instruction": "Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side.", "scene_description": "An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace.", "success_criteria": "The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 335, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 336, "end_step": 500, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 725, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 895, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 335, "id": "subtask-001", "text": "Pick up one edge of the towel from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 336, "end_step": 500, "id": "subtask-002", "text": "Fold the towel in half with both hands by bringing the lifted edge toward the opposite edge. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 725, "id": "subtask-003", "text": "Use the right hand to fold the towel in half again from the other side. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 895, "id": "subtask-004", "text": "Place the folded towel in the designated area beside the workspace. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_towel | Instruction: Pick up one edge of the towel with both hands and fold the towel in half. Then use the right hand to fold the towel in half again from the other side. Finally, place the folded towel to the side. | Scene: An unfolded towel is placed flat on the table. The robot needs to fold the towel twice and place the folded towel in a designated area beside the workspace. | Success: The towel is folded twice into a compact and tidy shape, with the edges reasonably aligned, and is placed stably in the designated area.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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+                "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"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
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+        "observation.images.wrist_left": {
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+                480,
+                3
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+            "names": [
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+                "video.codec": "h264",
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+                "has_audio": false
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+        "observation.images.wrist_right": {
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+                480,
+                3
+            ],
+            "names": [
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+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
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+                480,
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+            ],
+            "names": [
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+            }
+        },
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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": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
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+                "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": {
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+                1600,
+                3
+            ],
+            "names": [
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+                "video.width": 1600,
+                "video.codec": "h264",
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+                "video.fps": 30,
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+        "timestamp": {
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+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "index": {
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+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/modality.json b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+      "end": 12,
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+      "absolute": true,
+      "dtype": "float32",
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/stats.json b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba5d89eed3f4d7aac44f7d05dfa8d1d37e91315b
--- /dev/null
+++ b/fold_towel/season_POC22027_2026_05_14_15_37_36_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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