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diff --git a/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/annotations.jsonl b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acbb8f2c8a66d74f60811e875831b029a4672334
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,25 @@
+{"source_uid": "4124b1339f2547f3", "num_frames": 3307, "episode_id": "POC22050_2026_06_10_10_57_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22050_2026_06_10_10_50_09_train/POC22050_2026_06_10_10_57_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22050_2026_06_10_10_50_09_train/POC22050_2026_06_10_10_57_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22050_2026_06_10_10_50_09_train/POC22050_2026_06_10_10_57_54_train/train_0.3.0@2026_06_10_10_57_54.hdf5", "tags": {"task_name": "packaging", "task_instruction": "Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands.", "scene_description": "A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag.", "success_criteria": "The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the storage bag from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 822, "id": "subtask-002", "text": "Open the storage bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 912, "id": "subtask-003", "text": "Pick up the object from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1134, "id": "subtask-004", "text": "Place the object into the storage bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 3270, "id": "subtask-005", "text": "Close the storage bag with both hands. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the storage bag from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 822, "id": "subtask-002", "text": "Open the storage bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 912, "id": "subtask-003", "text": "Pick up the object from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1134, "id": "subtask-004", "text": "Place the object into the storage bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 3270, "id": "subtask-005", "text": "Close the storage bag with both hands. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: packaging | Instruction: Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands. | Scene: A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag. | Success: The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+                "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": {
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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.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.channels": 3,
+                "has_audio": false
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+        "observation.images.wrist_right": {
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+                480,
+                3
+            ],
+            "names": [
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+                "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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+        "observation.images.head_right": {
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+                480,
+                3
+            ],
+            "names": [
+                "height",
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+                "channels"
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+            }
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+                "left_thumb_fy",
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+                "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",
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+                "has_audio": false
+            }
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+        "observation.images.tactile_raw": {
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+            "shape": [
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+                1600,
+                3
+            ],
+            "names": [
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+                "video.codec": "h264",
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+            "names": null
+        },
+        "episode_index": {
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+        },
+        "index": {
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+        "task_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/modality.json b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "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": {
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+    }
+  },
+  "state": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+    },
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/stats.json b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f2a8fdae5d6f8d9f925a68336b2325d7383cdb
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22050_2026_06_10_10_50_09_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+{"source_uid": "458f48da584e39d1", "num_frames": 3188, "episode_id": "POC22065_2026_06_10_16_34_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22065_2026_06_10_16_34_45_train/POC22065_2026_06_10_16_34_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22065_2026_06_10_16_34_45_train/POC22065_2026_06_10_16_34_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/packaging/season_POC22065_2026_06_10_16_34_45_train/POC22065_2026_06_10_16_34_45_train/train_0.3.0@2026_06_10_16_34_45.hdf5", "tags": {"task_name": "packaging", "task_instruction": "Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands.", "scene_description": "A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag.", "success_criteria": "The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 1037, "id": "subtask-001", "text": "Pick up the storage bag from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1038, "end_step": 1595, "id": "subtask-002", "text": "Open the storage bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1853, "id": "subtask-003", "text": "Pick up the object from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1854, "end_step": 1979, "id": "subtask-004", "text": "Place the object into the storage bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1980, "end_step": 3035, "id": "subtask-005", "text": "Close the storage bag with both hands. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 1037, "id": "subtask-001", "text": "Pick up the storage bag from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1038, "end_step": 1595, "id": "subtask-002", "text": "Open the storage bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1853, "id": "subtask-003", "text": "Pick up the object from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1854, "end_step": 1979, "id": "subtask-004", "text": "Place the object into the storage bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1980, "end_step": 3035, "id": "subtask-005", "text": "Close the storage bag with both hands. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: packaging | Instruction: Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands. | Scene: A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag. | Success: The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
diff --git a/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes.jsonl b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3985c86d203cffd08798151f39a29b996808e3e
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Task: packaging | Instruction: Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands. | Scene: A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag. | Success: The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged."], "length": 3188}
diff --git a/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes_stats.jsonl b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3238d3112b510d57968df7769569e13745728b2
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
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[[0.17892803251743317]]], "count": [3188]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5410128235816956]], [[0.5377220511436462]], [[0.5376791954040527]]], "std": [[[0.283458411693573]], [[0.28561729192733765]], [[0.2844800055027008]]], "count": [3188]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176652908325]], [[0.6941176652908325]], [[0.6941176652908325]]], "mean": [[[0.0025546029210090637]], [[0.0025546029210090637]], [[0.0025546029210090637]]], "std": [[[0.03021237440407276]], [[0.03021237440407276]], [[0.03021237440407276]]], "count": [3188]}, "observation.images.tactile_raw": {"min": [[[0.05098039284348488]], [[0.05098039284348488]], [[0.05098039284348488]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5189075469970703]], [[0.5189075469970703]], [[0.5189075469970703]]], "std": [[[0.24722552299499512]], [[0.24722552299499512]], [[0.24722552299499512]]], "count": [3188]}}}
diff --git a/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/info.json b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bf222a14c3f90f6092e5ef1c1c18aa20b9c37f
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 1,
+    "total_frames": 3188,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "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/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/modality.json b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_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/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/subtasks.jsonl b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
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+{"subtask_index": 0, "subtask": "Pick up the storage bag from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the storage bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Pick up the object from the table with the right hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the object into the storage bag with the right hand. | Skill: place"}
+{"subtask_index": 4, "subtask": "Close the storage bag with both hands. | Skill: close"}
+{"subtask_index": 5, "subtask": "Task: packaging | Instruction: Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands. | Scene: A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag. | Success: The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged."}
diff --git a/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/tasks.jsonl b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: packaging | Instruction: Pick up the storage bag from the table with the left hand. Open the storage bag with both hands. Pick up the object from the table with the right hand and place it into the storage bag. Finally, close the storage bag with both hands. | Scene: A storage bag and an object are placed on the table. The robot needs to pick up and open the bag, place the object inside, and close the bag. | Success: The object is completely placed inside the storage bag, and the bag is fully closed without the object falling out or being damaged."}
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+    "observation.images.wrist_right": 3188,
+    "observation.images.head_right": 3188,
+    "observation.images.tactile_deform": 3188,
+    "observation.images.tactile_raw": 3188
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 1
+}
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+                "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": {
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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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+        "observation.tactile": {
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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": {
+            "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/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v3.0/meta/modality.json b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_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": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v3.0/meta/stats.json b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac91c14882d42f4db432d5bcd91e0340278c95ce
--- /dev/null
+++ b/pack_object_in_storage_bag/season_POC22065_2026_06_10_16_34_45_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/annotations.jsonl b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b48425fa6d73faea73aba794b871bd9339635cc
--- /dev/null
+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,74 @@
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diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes.jsonl b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e889eeaa0bf44d800076676231c32d2b265da67
--- /dev/null
+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,74 @@
+{"episode_index": 0, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 459}
+{"episode_index": 1, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 448}
+{"episode_index": 2, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 418}
+{"episode_index": 3, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 379}
+{"episode_index": 4, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 388}
+{"episode_index": 5, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 382}
+{"episode_index": 6, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 366}
+{"episode_index": 7, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 352}
+{"episode_index": 8, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 348}
+{"episode_index": 9, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 347}
+{"episode_index": 10, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 306}
+{"episode_index": 11, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 348}
+{"episode_index": 12, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 359}
+{"episode_index": 13, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 362}
+{"episode_index": 14, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 325}
+{"episode_index": 15, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 359}
+{"episode_index": 16, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 328}
+{"episode_index": 17, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 327}
+{"episode_index": 18, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 315}
+{"episode_index": 19, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 332}
+{"episode_index": 20, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 338}
+{"episode_index": 21, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 358}
+{"episode_index": 22, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 347}
+{"episode_index": 23, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 321}
+{"episode_index": 24, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 335}
+{"episode_index": 25, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 347}
+{"episode_index": 26, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 346}
+{"episode_index": 27, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 341}
+{"episode_index": 28, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 329}
+{"episode_index": 29, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 399}
+{"episode_index": 30, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 316}
+{"episode_index": 31, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 344}
+{"episode_index": 32, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 331}
+{"episode_index": 33, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 353}
+{"episode_index": 34, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 363}
+{"episode_index": 35, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 356}
+{"episode_index": 36, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 365}
+{"episode_index": 37, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 389}
+{"episode_index": 38, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 356}
+{"episode_index": 39, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 360}
+{"episode_index": 40, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 351}
+{"episode_index": 41, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 373}
+{"episode_index": 42, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 345}
+{"episode_index": 43, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 333}
+{"episode_index": 44, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 379}
+{"episode_index": 45, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 362}
+{"episode_index": 46, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 370}
+{"episode_index": 47, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 344}
+{"episode_index": 48, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 383}
+{"episode_index": 49, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 363}
+{"episode_index": 50, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 400}
+{"episode_index": 51, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 362}
+{"episode_index": 52, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 404}
+{"episode_index": 53, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 390}
+{"episode_index": 54, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 378}
+{"episode_index": 55, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 434}
+{"episode_index": 56, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 421}
+{"episode_index": 57, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 403}
+{"episode_index": 58, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 368}
+{"episode_index": 59, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 378}
+{"episode_index": 60, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 370}
+{"episode_index": 61, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 380}
+{"episode_index": 62, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 397}
+{"episode_index": 63, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 378}
+{"episode_index": 64, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 371}
+{"episode_index": 65, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 451}
+{"episode_index": 66, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 422}
+{"episode_index": 67, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 392}
+{"episode_index": 68, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 397}
+{"episode_index": 69, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 397}
+{"episode_index": 70, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 379}
+{"episode_index": 71, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 450}
+{"episode_index": 72, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 404}
+{"episode_index": 73, "tasks": ["Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."], "length": 390}
diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aeff527effb5daf54b23459366cd9b2c3493e404
--- /dev/null
+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,74 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0504926443099976, -0.7792395949363708, -0.02580251544713974, 0.9608260989189148, 0.0003639609203673899, -0.7678913474082947, 0.41086798906326294, 0.02973347343504429, -0.30657345056533813, -0.13527658581733704, 0.0037176187615841627, 0.003504144726321101, -0.17005817592144012, 0.004996068775653839, 0.0030971067026257515, 0.000859353574924171, 0.003780046245083213, 2.649396992637776e-05, 0.0025113688316196203, 0.0008686654036864638, -0.16967204213142395, 0.006698058918118477, 0.00338784814812243, 0.0008034822531044483, 0.007169193588197231, 0.004053817130625248, 0.00016534187307115644, 0.0034669155720621347, 0.000881524698343128, 1.0499974489212036, -0.7800086140632629, -0.03126516565680504, 0.4795536994934082, -1.3739104270935059, -0.7700178623199463, -0.3480977714061737, 0.006801044102758169, -0.32475972175598145, -0.07160128653049469, 0.005238342564553022, 0.0032704879995435476, -0.17360787093639374, -0.1550864428281784, 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diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/info.json b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7269f65e93d5a0e38d6f2a749e903c1941f530
--- /dev/null
+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+            "names": [
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "has_audio": false
+            }
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+            "dtype": "video",
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+                480,
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+            "names": [
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+                "channels"
+            ],
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+                "video.codec": "h264",
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+                "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": [
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+            ],
+            "names": [
+                "height",
+                "width",
+                "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
+            }
+        },
+        "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"
+            ],
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+                "video.codec": "h264",
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+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
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+        }
+    }
+}
\ No newline at end of file
diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/modality.json b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_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": {
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+      "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"
+    },
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/subtasks.jsonl b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3126f81d30f485e9a0956f648e35440f1620581e
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+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the ball. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the ball above the box. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the ball in the box. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."}
diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/tasks.jsonl b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/tasks.jsonl
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+++ b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pick the Ball and Place it in the Box | Instruction: Pick up the ball, move the ball above the box, place the ball in the box. | Scene: A table with a ball and a box placed at random positions. | Success: The ball is placed in the box."}
diff --git a/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/v40_validation.json b/place_ball_in_box/season_POC22018_2026_04_30_15_47_22_train/lerobot_v2.1/meta/v40_validation.json
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--- /dev/null
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 74,
+  "frames": 27361,
+  "video_frames": {
+    "observation.images.head_left": 27361,
+    "observation.images.wrist_left": 27361,
+    "observation.images.wrist_right": 27361,
+    "observation.images.head_right": 27361,
+    "observation.images.tactile_deform": 27361,
+    "observation.images.tactile_raw": 27361
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 74
+}
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