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diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/annotations.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3d8fc7ebe2fa5e5892c8e6a02ddcc9f534da943
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,50 @@
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+                "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"
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+        },
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+            "dtype": "float32",
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+            "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"
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+        },
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+            ],
+            "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"
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+        },
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+            "names": null
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+                "left_middle_fx",
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+                "left_middle_tz",
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+                "left_ring_tx",
+                "left_ring_ty",
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+                "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"
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+        },
+        "observation.images.tactile_deform": {
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+            "shape": [
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+                1200,
+                3
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+            "names": [
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+        "observation.images.tactile_raw": {
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/modality.json b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    },
+    "head_right": {
+      "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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+    }
+  },
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+      "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",
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/stats.json b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f970835c4082eaf7dc2bfd3c0b1e06ca5781ad
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_10_31_35_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotations.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b159c841e6decfe14466a8e2e3ccc4e260c458ff
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,48 @@
+{"source_uid": "7f8160c887d24c2c", "num_frames": 955, "episode_id": "POC22027_2026_06_09_15_13_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_01_train/train_0.3.0@2026_06_09_15_13_01.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 287, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 288, "end_step": 573, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 784, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 287, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 288, "end_step": 573, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 784, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "965d897d760b08b9", "num_frames": 910, "episode_id": "POC22027_2026_06_09_15_13_44_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_44_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_44_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_13_44_train/train_0.3.0@2026_06_09_15_13_44.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 285, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 415, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 720, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 285, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 415, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 720, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "18cac39f55c3e3c3", "num_frames": 999, "episode_id": "POC22027_2026_06_09_15_14_35_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_14_35_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_14_35_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_14_35_train/train_0.3.0@2026_06_09_15_14_35.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 161, "end_step": 275, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 276, "end_step": 635, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 805, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 161, "end_step": 275, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 276, "end_step": 635, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 805, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "42f38ca6f656906f", "num_frames": 1148, "episode_id": "POC22027_2026_06_09_15_16_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_16_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_16_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_15_16_16_train/train_0.3.0@2026_06_09_15_16_16.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 145, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 146, "end_step": 270, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 630, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 965, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 145, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 146, "end_step": 270, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 630, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 965, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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+{"source_uid": "79a1950fba82baf0", "num_frames": 952, "episode_id": "POC22027_2026_06_09_16_37_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_37_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_37_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_37_30_train/train_0.3.0@2026_06_09_16_37_30.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 225, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 635, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 775, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 225, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 635, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 775, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "7b797d18ad8cfdd5", "num_frames": 972, "episode_id": "POC22027_2026_06_09_16_39_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_39_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_39_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_09_15_13_01_train/POC22027_2026_06_09_16_39_05_train/train_0.3.0@2026_06_09_16_39_05.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 270, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 580, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 760, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 270, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 580, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 760, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0445544a0c4a8044252e59cc1daef93e560999f0
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,48 @@
+{"episode_index": 0, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 955}
+{"episode_index": 1, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 910}
+{"episode_index": 2, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 999}
+{"episode_index": 3, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 1148}
+{"episode_index": 4, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 944}
+{"episode_index": 5, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 977}
+{"episode_index": 6, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 1157}
+{"episode_index": 7, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 902}
+{"episode_index": 8, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 863}
+{"episode_index": 9, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 1019}
+{"episode_index": 10, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 893}
+{"episode_index": 11, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 968}
+{"episode_index": 12, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 802}
+{"episode_index": 13, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 729}
+{"episode_index": 14, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 892}
+{"episode_index": 15, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 746}
+{"episode_index": 16, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 1042}
+{"episode_index": 17, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 932}
+{"episode_index": 18, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 797}
+{"episode_index": 19, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 637}
+{"episode_index": 20, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 940}
+{"episode_index": 21, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 797}
+{"episode_index": 22, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 805}
+{"episode_index": 23, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 670}
+{"episode_index": 24, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 693}
+{"episode_index": 25, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 916}
+{"episode_index": 26, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 799}
+{"episode_index": 27, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 768}
+{"episode_index": 28, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 839}
+{"episode_index": 29, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 701}
+{"episode_index": 30, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 713}
+{"episode_index": 31, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 739}
+{"episode_index": 32, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 791}
+{"episode_index": 33, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 717}
+{"episode_index": 34, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 874}
+{"episode_index": 35, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 694}
+{"episode_index": 36, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 745}
+{"episode_index": 37, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 1006}
+{"episode_index": 38, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 707}
+{"episode_index": 39, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 705}
+{"episode_index": 40, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 828}
+{"episode_index": 41, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 648}
+{"episode_index": 42, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 746}
+{"episode_index": 43, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 642}
+{"episode_index": 44, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 780}
+{"episode_index": 45, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 753}
+{"episode_index": 46, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 952}
+{"episode_index": 47, "tasks": ["Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."], "length": 972}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..449d164c31d1c90725d0c748f271de1d51b6872b
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,48 @@
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diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/info.json b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d445197ec3bbf69458d1777fb9e7e5ac6e542116
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "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/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/modality.json b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_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/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/subtasks.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15947afbd3dab3439d6f5a97ec826728bd3a7b31
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the large battery from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert"}
+{"subtask_index": 2, "subtask": "Pick up the small battery from the table with the right hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/tasks.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..424a56feea9dbe62c024106594360051aa152550
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation."}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/v40_validation.json b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..681fad38ddfabc3ae0e3ac9afec2bd7601138c9e
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_09_15_13_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 48,
+  "frames": 40252,
+  "video_frames": {
+    "observation.images.head_left": 40252,
+    "observation.images.wrist_left": 40252,
+    "observation.images.wrist_right": 40252,
+    "observation.images.head_right": 40252,
+    "observation.images.tactile_deform": 40252,
+    "observation.images.tactile_raw": 40252
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 48
+}
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