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diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotations.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3053c4e5959ae406c1b1a22bf95dae7e9490656d
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,10 @@
+{"source_uid": "5eb22c5bd4a04818", "num_frames": 778, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. 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The hammer is placed back on the table surface with no damage to any objects.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 302, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 394, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 414, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 474, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 484, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 534, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 544, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 604, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 302, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 394, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 414, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 474, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 484, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 534, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 544, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 604, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/PryNail/season_POC22018_2026_04_28_17_20_04_train/POC22018_2026_04_28_21_47_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 153, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "352bbe86026c506c", "num_frames": 804, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects.", "tags": {"task_name": "Pry out three nails with hammer", "task_instruction": "Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface.", "scene_description": "A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby.", "success_criteria": "All three nails are completely removed from the yellow board and placed in the collection area. 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+{"source_uid": "34574d54ccac9303", "num_frames": 652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects.", "tags": {"task_name": "Pry out three nails with hammer", "task_instruction": "Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface.", "scene_description": "A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby.", "success_criteria": "All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 425, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 440, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 485, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 495, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 550, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 560, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 425, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 440, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 485, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 495, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 550, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 560, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/PryNail/season_POC22018_2026_04_28_17_20_04_train/POC22018_2026_04_28_22_22_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 202, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7b39710506d36c02445d0921a7c2bfc2ecc0d59
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 778}
+{"episode_index": 1, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 843}
+{"episode_index": 2, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 770}
+{"episode_index": 3, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 711}
+{"episode_index": 4, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 764}
+{"episode_index": 5, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 691}
+{"episode_index": 6, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 762}
+{"episode_index": 7, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 650}
+{"episode_index": 8, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 804}
+{"episode_index": 9, "tasks": ["Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."], "length": 652}
diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes_stats.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b907d0307de3e24a808f50f5b0fe3cc114779fc5
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/info.json b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..678ceb5215fcbcb2f5dba6c10e25f98f7ebb319a
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            ],
+            "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
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/modality.json b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_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/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/subtasks.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4db9ce56db6651c2cbe7a9348c26a43dbcb55f54
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,9 @@
+{"subtask_index": 0, "subtask": "Pick up the white toy claw hammer from the table surface. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull"}
+{"subtask_index": 2, "subtask": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place"}
+{"subtask_index": 3, "subtask": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull"}
+{"subtask_index": 4, "subtask": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place"}
+{"subtask_index": 5, "subtask": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull"}
+{"subtask_index": 6, "subtask": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place"}
+{"subtask_index": 7, "subtask": "Place the hammer back on the table surface. | Skill: place"}
+{"subtask_index": 8, "subtask": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."}
diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/tasks.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e34bfb1b3e90eca0fcc6018d27539b814506d5de
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. The hammer is placed back on the table surface with no damage to any objects."}
diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/v40_validation.json b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c37701eb9a7c30ddd339114296c5f44ca050491
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 10,
+  "frames": 7425,
+  "video_frames": {
+    "observation.images.head_left": 7425,
+    "observation.images.wrist_left": 7425,
+    "observation.images.wrist_right": 7425,
+    "observation.images.head_right": 7425,
+    "observation.images.tactile_deform": 7425,
+    "observation.images.tactile_raw": 7425
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 10
+}
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diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/annotations.jsonl b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3053c4e5959ae406c1b1a22bf95dae7e9490656d
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,10 @@
+{"source_uid": "5eb22c5bd4a04818", "num_frames": 778, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pry out three nails with hammer | Instruction: Pick up the white toy claw hammer from the table, use the claw end to pry out three white toy nails from the yellow board one by one, place each removed nail in the designated collection area on the table, then place the hammer back on the table surface. | Scene: A yellow 3D-printed board with evenly spaced holes and four cylindrical support legs sits on a gray table surface, forming a small table-like structure. Three white toy nails are inserted into three separate holes on the board. A white 3D-printed toy claw hammer rests on the table surface nearby. | Success: All three nails are completely removed from the yellow board and placed in the collection area. 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The hammer is placed back on the table surface with no damage to any objects.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 437, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 539, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 540, "end_step": 549, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 599, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 609, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 659, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 669, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 729, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 437, "id": "subtask-001", "text": "Pick up the white toy claw hammer from the table surface. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 539, "id": "subtask-002", "text": "Align the hammer claw under the head of the first nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 540, "end_step": 549, "id": "subtask-003", "text": "Pick up the first removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 599, "id": "subtask-004", "text": "Align the hammer claw under the head of the second nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 609, "id": "subtask-005", "text": "Pick up the second removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 659, "id": "subtask-006", "text": "Align the hammer claw under the head of the third nail and pry it out of the yellow board. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 669, "id": "subtask-007", "text": "Pick up the third removed nail from the board surface and place it in the designated collection area on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 729, "id": "subtask-008", "text": "Place the hammer back on the table surface. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/PryNail/season_POC22018_2026_04_28_17_20_04_train/POC22018_2026_04_28_19_42_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/modality.json b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/modality.json
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diff --git a/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/stats.json b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..df7e855d1a675af50b20ce564e10a401ffeada15
--- /dev/null
+++ b/pry_nails_from_board/season_POC22018_2026_04_28_17_20_04_train/lerobot_v3.0/meta/stats.json
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/annotations.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c3db0a204e989bc08b88a6a41da888f66616b15
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,66 @@
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..319e0fcafc3acdd7a219263a8c1e62eabfb2b688
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,66 @@
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+{"episode_index": 65, "tasks": ["Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."], "length": 424}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes_stats.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3a132c3c1678d4bd76516838a71044db52d5ebb
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,66 @@
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/info.json b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2177f4fae9d8305ba69a9c393cd5d5067fa57d09
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "total_frames": 26029,
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+    "total_videos": 396,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:66"
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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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+                "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",
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+                "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/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/modality.json b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_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/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/subtasks.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..635f8d46d1849308698bd88a7d9217fa963ac847
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the block in the box. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the block to a position above and outside the box. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the block on the table. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/tasks.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73ea149d933a150791bc90fb102d5a76e2277cdf
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/v40_validation.json b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f348b1174f9fdd440ef84cb6ada5c2370fb41
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 66,
+  "frames": 26029,
+  "video_frames": {
+    "observation.images.head_left": 26029,
+    "observation.images.wrist_left": 26029,
+    "observation.images.wrist_right": 26029,
+    "observation.images.head_right": 26029,
+    "observation.images.tactile_deform": 26029,
+    "observation.images.tactile_raw": 26029
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 66
+}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/annotations.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c3db0a204e989bc08b88a6a41da888f66616b15
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,66 @@
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+    "robot_type": "robot",
+    "total_episodes": 66,
+    "total_frames": 26029,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:66"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/modality.json b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "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/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/stats.json b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..613356bb9e78a6e2078639452eb081738976a033
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_10_36_40_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/annotations.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f47c8ce170186be57130ff04c7b538c593394854
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,64 @@
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..905eba37a883a96331bd5d7ea09bcb0e43599d50
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,64 @@
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+{"episode_index": 62, "tasks": ["Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."], "length": 334}
+{"episode_index": 63, "tasks": ["Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."], "length": 354}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes_stats.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0abb137f826301824c61747af7e574c050520ca8
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,64 @@
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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/info.json b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54827d209c15ab72ca5cf00d333716c333388de5
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/modality.json b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_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/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/subtasks.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..635f8d46d1849308698bd88a7d9217fa963ac847
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the block in the box. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the block to a position above and outside the box. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the block on the table. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/tasks.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Take the Block out of the Box. | Instruction: Pick up the block in the box, move the block to a position above and outside the box, place the block on the table. | Scene: A table with a box placed at a random position and a block inside the box. | Success: The block is placed out of the box on the table."}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/v40_validation.json b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..a617d1aca8158e377f041817673eee4f3abcc985
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_15_34_56_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 64,
+  "frames": 22474,
+  "video_frames": {
+    "observation.images.head_left": 22474,
+    "observation.images.wrist_left": 22474,
+    "observation.images.wrist_right": 22474,
+    "observation.images.head_right": 22474,
+    "observation.images.tactile_deform": 22474,
+    "observation.images.tactile_raw": 22474
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 64
+}
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