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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/annotations.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6c60f33ee4065fe296a004e1d6a510be0b6ea69
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,45 @@
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..32b597a3f1a0291235e89e9827613ae0fcd3d4bf
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,45 @@
+{"episode_index": 0, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 2718}
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+{"episode_index": 2, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1912}
+{"episode_index": 3, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 2354}
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+{"episode_index": 26, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1067}
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+{"episode_index": 28, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1830}
+{"episode_index": 29, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1235}
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+{"episode_index": 31, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1017}
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+{"episode_index": 33, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1107}
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+{"episode_index": 35, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1347}
+{"episode_index": 36, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 2462}
+{"episode_index": 37, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 944}
+{"episode_index": 38, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 948}
+{"episode_index": 39, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 854}
+{"episode_index": 40, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1148}
+{"episode_index": 41, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1164}
+{"episode_index": 42, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1468}
+{"episode_index": 43, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1538}
+{"episode_index": 44, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1002}
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba257384309c8097d20f29c9a8965c8d85b8ca2a
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,45 @@
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/info.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac029bc48b7a013a3001d550602c8a3b6dcd408
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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",
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+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/modality.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_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/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/subtasks.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e2b8507bb6846716fb57b4637aead05ec9d6d86
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Pick up the pestle from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Grind the medicine inside the mortar with the pestle using the right hand. | Skill: grind"}
+{"subtask_index": 2, "subtask": "Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."}
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/tasks.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..496d9680441e52849c927c17926cb5d8f6f2b28d
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."}
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/v40_validation.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..454f4a1c5a85837bbd5b0fa88b37cc4c9c4f7a23
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 45,
+  "frames": 71276,
+  "video_frames": {
+    "observation.images.head_left": 71276,
+    "observation.images.wrist_left": 71276,
+    "observation.images.wrist_right": 71276,
+    "observation.images.head_right": 71276,
+    "observation.images.tactile_deform": 71276,
+    "observation.images.tactile_raw": 71276
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 45
+}
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