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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/annotations.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bfbf90c9048b40e0e11dd8a2b95bbd39b989395e
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,146 @@
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+                "right_hand_j0",
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+                "right_hand_j3",
+                "right_hand_j4",
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+                "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",
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+                "right_arm_tcp_pose_3",
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+}
\ No newline at end of file
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/modality.json b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "wrist_left": {
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+    "tactile_raw": {
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+  "annotation": {
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+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/stats.json b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b482a62dec1b7e0f5ee1835ad88f4bd71469ae2
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/annotations.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..674765695801c5012ac78583d6af021224601d4d
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,115 @@
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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4e5b5d0b13cbd018b2f93c60de43e4249085a68
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,115 @@
+{"episode_index": 0, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 429}
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+{"episode_index": 102, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 413}
+{"episode_index": 103, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 400}
+{"episode_index": 104, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 348}
+{"episode_index": 105, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 373}
+{"episode_index": 106, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 379}
+{"episode_index": 107, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 367}
+{"episode_index": 108, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 477}
+{"episode_index": 109, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 443}
+{"episode_index": 110, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 444}
+{"episode_index": 111, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 446}
+{"episode_index": 112, "tasks": ["Task: cover_ball_with_cup"], "length": 427}
+{"episode_index": 113, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 412}
+{"episode_index": 114, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 424}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes_stats.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02bd726fadb8271e9d815beb18ec6fbffdad5213
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,115 @@
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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/info.json b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97953728d0c883471b4cd92d73a6231f78606ab
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/modality.json b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_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/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/subtasks.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5786b44e0e2be852c1785869dcc6543f36307690
--- /dev/null
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@@ -0,0 +1,8 @@
+{"subtask_index": 0, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the cup above the ball. | Skill: move"}
+{"subtask_index": 2, "subtask": "Cover the ball with the cup. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the yellow cup placed on the black table."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the yellow cup and adjusts fingers to form a stable grip."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the yellow cup upwards away from the table surface."}
+{"subtask_index": 7, "subtask": "Task: cover_ball_with_cup"}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/tasks.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/tasks.jsonl
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@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."}
+{"task_index": 1, "task": "Task: cover_ball_with_cup"}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/v40_validation.json b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/v40_validation.json
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+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 115,
+  "frames": 44061,
+  "video_frames": {
+    "observation.images.head_left": 44061,
+    "observation.images.wrist_left": 44061,
+    "observation.images.wrist_right": 44061,
+    "observation.images.head_right": 44061,
+    "observation.images.tactile_deform": 44061,
+    "observation.images.tactile_raw": 44061
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 115
+}
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