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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_train/lerobot_v3.0/meta/annotations.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2784d5159f63b9c3fd4bee8a0705f8db89dfc0f9
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,119 @@
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+                "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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+                "left_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_10_43_34_train/lerobot_v3.0/meta/modality.json b/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_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_10_43_34_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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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_train/lerobot_v3.0/meta/stats.json b/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..708338a2f70586ac4d8cc73cd62d92d8792c070d
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_10_43_34_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_13_59_12_train/lerobot_v2.1/meta/annotations.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/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_v2.1/meta/annotations.jsonl
@@ -0,0 +1,146 @@
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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8d16b7735ee4abff09e20258e23fc5f91fbe6d0
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,146 @@
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+{"episode_index": 5, "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": 406}
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+{"episode_index": 7, "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": 397}
+{"episode_index": 8, "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": 415}
+{"episode_index": 9, "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}
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+{"episode_index": 16, "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": 375}
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+{"episode_index": 145, "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": 342}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes_stats.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d355f4c1bb84ccb1bdf982ef180d8c94a29cbc1
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,146 @@
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diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/info.json b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d366241c1325f7f4a76e68055999279cf0e3541e
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "dtype": "float32",
+            "shape": [
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+            ],
+            "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",
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+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/modality.json b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_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_13_59_12_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_13_59_12_train/lerobot_v2.1/meta/subtasks.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51dc4c9f2b2f5a477b6327fcc9550ce224fbee29
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"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."}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/tasks.jsonl b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0ea5f83f198cf1479c0de12c7120eadc0f7920d
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"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."}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/v40_validation.json b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..6931270f6118feec4cc25252773e8d477c13911f
--- /dev/null
+++ b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 146,
+  "frames": 56845,
+  "video_frames": {
+    "observation.images.head_left": 56845,
+    "observation.images.wrist_left": 56845,
+    "observation.images.wrist_right": 56845,
+    "observation.images.head_right": 56845,
+    "observation.images.tactile_deform": 56845,
+    "observation.images.tactile_raw": 56845
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 146
+}
diff --git a/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/cover_ball_with_cup/season_POC22018_2026_05_06_13_59_12_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
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