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+                "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/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_train/lerobot_v3.0/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_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/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_train/lerobot_v3.0/meta/stats.json b/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2536a4a55a7064577b154c34049444c00a13c00
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_04_01_20_10_54_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_24_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_32_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 316, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 317, "end_step": 322, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 446, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 482, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 548, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 602, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 316, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 317, "end_step": 322, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 446, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 482, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 548, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 602, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_32_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "4767f1a8049c7c25", "num_frames": 640, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "2872d4f02183af5e", "num_frames": 632, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "6ac5a590c552597c", "num_frames": 686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_37_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61fa317d4e938113b6a383664e66273a1941e0b2
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,22 @@
+{"source_uid": "a0d2779b873d6d88", "num_frames": 690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 232, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 458, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 522, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 544, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 232, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 458, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 522, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 544, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_15_56_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "21eae436ca9a721f", "num_frames": 760, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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+{"source_uid": "079e245a891f6fc3", "num_frames": 774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_24_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_32_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 316, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 317, "end_step": 322, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 446, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 482, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 548, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 602, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 316, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 317, "end_step": 322, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 446, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 482, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 548, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 602, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_32_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "4767f1a8049c7c25", "num_frames": 640, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "2872d4f02183af5e", "num_frames": 632, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "6ac5a590c552597c", "num_frames": 686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_37_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..647cfb76d8ca885f8540212f7d5a03e8f5004171
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,22 @@
+{"episode_index": 0, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 690}
+{"episode_index": 1, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 760}
+{"episode_index": 2, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 813}
+{"episode_index": 3, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 973}
+{"episode_index": 4, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 774}
+{"episode_index": 5, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 769}
+{"episode_index": 6, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 852}
+{"episode_index": 7, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 810}
+{"episode_index": 8, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 645}
+{"episode_index": 9, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 587}
+{"episode_index": 10, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 740}
+{"episode_index": 11, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 692}
+{"episode_index": 12, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 552}
+{"episode_index": 13, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 698}
+{"episode_index": 14, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 745}
+{"episode_index": 15, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 606}
+{"episode_index": 16, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 751}
+{"episode_index": 17, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 735}
+{"episode_index": 18, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 706}
+{"episode_index": 19, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 640}
+{"episode_index": 20, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 632}
+{"episode_index": 21, "tasks": ["Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."], "length": 686}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2e1576ac8395a1ad29ba57d8552c47eab40d82f
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,22 @@
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diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/info.json b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac35bd571230506dd2fd43f9ebec970113b0635
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "left_hand_j17",
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+                "right_arm_j0",
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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/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/modality.json b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_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/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/subtasks.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72ff3c0f2ca0ea46241914c335d4a2d3a96c48cf
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,10 @@
+{"subtask_index": 0, "subtask": "Pick up the cup from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the right hand to the cap. | Skill: move"}
+{"subtask_index": 2, "subtask": "Grip the cap with the right hand. | Skill: grasp"}
+{"subtask_index": 3, "subtask": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 4, "subtask": "Lift the cap away from the cup with the right hand. | Skill: lift"}
+{"subtask_index": 5, "subtask": "Move the cap to the table with the right hand. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the cap on the table with the right hand. | Skill: place"}
+{"subtask_index": 7, "subtask": "Move the cup to the table with the left hand. | Skill: move"}
+{"subtask_index": 8, "subtask": "Place the cup on the table with the left hand. | Skill: place"}
+{"subtask_index": 9, "subtask": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/tasks.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3583973f4aa01145c2fff40f273043223f4fddd0
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state."}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/v40_validation.json b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f496c45d2efe5fc1b90b3e2e1267c42eca97658
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 22,
+  "frames": 15856,
+  "video_frames": {
+    "observation.images.head_left": 15856,
+    "observation.images.wrist_left": 15856,
+    "observation.images.wrist_right": 15856,
+    "observation.images.head_right": 15856,
+    "observation.images.tactile_deform": 15856,
+    "observation.images.tactile_raw": 15856
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 22
+}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
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diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
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+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
@@ -0,0 +1,3 @@
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 194, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 195, "end_step": 262, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 274, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 295, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 327, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 367, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 401, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 437, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 487, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 194, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 195, "end_step": 262, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 274, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 295, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 327, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 367, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 401, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 437, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 487, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_11_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 161, "end_step": 236, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 237, "end_step": 240, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 306, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 368, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 369, "end_step": 406, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 450, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 161, "end_step": 236, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 237, "end_step": 240, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 306, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 368, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 369, "end_step": 406, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 450, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_21_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 274, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 306, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 344, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 345, "end_step": 378, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 458, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 512, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 274, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 306, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 344, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 345, "end_step": 378, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 458, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 512, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_26_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 278, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 312, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 342, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 458, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 484, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 538, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "2872d4f02183af5e", "num_frames": 632, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 302, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 334, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 335, "end_step": 374, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 416, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 462, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 496, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 526, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "6ac5a590c552597c", "num_frames": 686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 256, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 392, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 480, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 524, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 560, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 610, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_37_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61fa317d4e938113b6a383664e66273a1941e0b2
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,22 @@
+{"source_uid": "a0d2779b873d6d88", "num_frames": 690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 232, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 458, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 522, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 544, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 232, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 458, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 522, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 544, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_15_56_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "21eae436ca9a721f", "num_frames": 760, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 254, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 408, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 474, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 512, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 494, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 560, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 590, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 654, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_24_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 284, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 436, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 450, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 490, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 538, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 564, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 630, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22021_2026_04_01_15_54_06_train/POC22021_2026_04_01_16_32_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
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+                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/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/modality.json b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/stats.json b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d4dcda74dadaa01e1857c0841c46f163e54878
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22021_2026_04_01_15_54_06_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e892e1ffbd7d3bebd1aad470385f1c272084d4f1
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,36 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccd80669bf26b397fbf4c03217af261674b2d78d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,36 @@
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+{"episode_index": 30, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1192}
+{"episode_index": 31, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1186}
+{"episode_index": 32, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1237}
+{"episode_index": 33, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1447}
+{"episode_index": 34, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1072}
+{"episode_index": 35, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1293}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af1162d62fbea5c859fdc200881339a2383a27d6
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,36 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd9177376137e61bfae39a13fe0168f32b7495c4
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27554ba14f3cfe4967baf813ff752b221b83f276
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef3e8b22b3a7a3e36f90999a59d38df675a40d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece63c546be2856c594b8e58ef267d24755fecc7
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 36,
+  "frames": 49170,
+  "video_frames": {
+    "observation.images.head_left": 49170,
+    "observation.images.wrist_left": 49170,
+    "observation.images.wrist_right": 49170,
+    "observation.images.head_right": 49170,
+    "observation.images.tactile_deform": 49170,
+    "observation.images.tactile_raw": 49170
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 36
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e892e1ffbd7d3bebd1aad470385f1c272084d4f1
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,36 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/modality.json
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca2c27da503a75326f864c9b36a0b712c2cd759b
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_15_22_22_train/lerobot_v3.0/meta/stats.json
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5353cd3b02ea1f226002ebc278e1698e9da4d433
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,22 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79587e667a966a50a9d2678a173deda27274878f
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,22 @@
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+{"episode_index": 16, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1101}
+{"episode_index": 17, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1115}
+{"episode_index": 18, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1083}
+{"episode_index": 19, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1179}
+{"episode_index": 20, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1126}
+{"episode_index": 21, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 955}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..707328ce57465670a9d51a9ac445a4d93139dadc
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,22 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2053fcf5e914b67ffef9cbb01071f4a6739ca9
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
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+        "episode_index": {
+            "dtype": "int64",
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+        "index": {
+            "dtype": "int64",
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+        "task_index": {
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+    }
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
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@@ -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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/subtasks.jsonl
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@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_19_29_06_train/lerobot_v2.1/meta/v40_validation.json
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+{
+  "status": "passed",
+  "episodes": 22,
+  "frames": 27182,
+  "video_frames": {
+    "observation.images.head_left": 27182,
+    "observation.images.wrist_left": 27182,
+    "observation.images.wrist_right": 27182,
+    "observation.images.head_right": 27182,
+    "observation.images.tactile_deform": 27182,
+    "observation.images.tactile_raw": 27182
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 22
+}
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