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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 535, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 705, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 750, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 770, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 910, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 975, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1005, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1245, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1300, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1335, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1465, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 535, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 705, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 750, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 770, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 910, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 975, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1005, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1245, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1300, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1335, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1465, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_13_46_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 968, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 998, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1013, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1133, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1134, "end_step": 1178, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1203, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1378, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1438, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1439, "end_step": 1463, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1464, "end_step": 1593, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 968, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 998, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1013, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1133, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1134, "end_step": 1178, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1203, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1378, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1438, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1439, "end_step": 1463, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1464, "end_step": 1593, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_38_24_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ac9815219ca4e19efe3cff46dde04219649ad52
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,20 @@
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+}
\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "head_right": {
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+    "tactile_deform": {
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+    "tactile_raw": {
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+  },
+  "annotation": {
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+      "absolute": true,
+      "dtype": "float32",
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+  "action": {
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+      "rotation_type": null,
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+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
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+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/stats.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e1bc71d9136a3c3a7842c18f0a507423516a47
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v3.0/meta/stats.json
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21fb224014d5b19f2045dad90f7d27156df8d79d
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,14 @@
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 342, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 387, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 408, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 480, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 516, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 690, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 732, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 813, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 342, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 387, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 408, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 480, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 516, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 690, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 732, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 813, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_16_33_37_train/POC22007_2026_03_21_16_52_40_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "142e3c67cf1c910d", "num_frames": 706, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 254, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 340, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 384, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 394, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 406, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 486, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 502, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 503, "end_step": 518, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 564, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 584, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 652, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 254, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 340, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 384, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 394, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 406, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 486, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 502, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 503, "end_step": 518, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 564, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 584, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 652, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_16_33_37_train/POC22007_2026_03_21_16_59_53_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1cfb381ec56d0ffa9cfc474f196510e8e64ea86b
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,14 @@
+{"episode_index": 0, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1460}
+{"episode_index": 1, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 909}
+{"episode_index": 2, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 957}
+{"episode_index": 3, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 795}
+{"episode_index": 4, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1021}
+{"episode_index": 5, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 909}
+{"episode_index": 6, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 625}
+{"episode_index": 7, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 745}
+{"episode_index": 8, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 733}
+{"episode_index": 9, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 981}
+{"episode_index": 10, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 660}
+{"episode_index": 11, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 936}
+{"episode_index": 12, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 875}
+{"episode_index": 13, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 706}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes_stats.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a96387d18af884e9549d5726b47d38c1649be9b
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,14 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/info.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32ff57424b7282ff88d9881062e6847b3a05e9f
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "total_videos": 84,
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+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:14"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
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+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
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+                "left_hand_j4",
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+                "left_hand_j9",
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+                "left_hand_j11",
+                "left_hand_j12",
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+                "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",
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+                "motor_j1",
+                "motor_j2",
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+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
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+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
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+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
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+                "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/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_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/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/subtasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pull the drawer open with the right hand. | Skill: pull"}
+{"subtask_index": 1, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the first object into the drawer. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the first object into the drawer. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the second object into the drawer. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the second object into the drawer. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Move the third object into the drawer. | Skill: move"}
+{"subtask_index": 9, "subtask": "Place the third object into the drawer. | Skill: place"}
+{"subtask_index": 10, "subtask": "Push the drawer closed with the right hand. | Skill: push"}
+{"subtask_index": 11, "subtask": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/tasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/v40_validation.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v2.1/meta/v40_validation.json
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+{
+  "status": "passed",
+  "episodes": 14,
+  "frames": 12312,
+  "video_frames": {
+    "observation.images.head_left": 12312,
+    "observation.images.wrist_left": 12312,
+    "observation.images.wrist_right": 12312,
+    "observation.images.head_right": 12312,
+    "observation.images.tactile_deform": 12312,
+    "observation.images.tactile_raw": 12312
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 14
+}
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21fb224014d5b19f2045dad90f7d27156df8d79d
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,14 @@
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+}
\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/stats.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..38601f050c9a2736c33e65e8a853ff3ebb9a0a7e
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_16_33_37_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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\ No newline at end of file
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f20443b76a220b43df93fe67c1738b53e03a9729
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,22 @@
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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 418, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 526, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 628, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 676, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 744, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 832, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 878, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1004, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 418, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 526, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 628, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 676, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 744, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 832, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 878, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1004, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_18_13_03_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "7b31e22fabd00e21", "num_frames": 933, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 268, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 388, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 426, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 608, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 644, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 740, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 772, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 790, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 872, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 268, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 388, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 426, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 608, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 644, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 740, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 772, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 790, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 872, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_18_13_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3fc531070e7ae918561697b9cb965ddeaa13c069
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,22 @@
+{"episode_index": 0, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1372}
+{"episode_index": 1, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1272}
+{"episode_index": 2, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 917}
+{"episode_index": 3, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1162}
+{"episode_index": 4, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1005}
+{"episode_index": 5, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 988}
+{"episode_index": 6, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1116}
+{"episode_index": 7, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1582}
+{"episode_index": 8, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1008}
+{"episode_index": 9, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1105}
+{"episode_index": 10, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1003}
+{"episode_index": 11, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 835}
+{"episode_index": 12, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1028}
+{"episode_index": 13, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 904}
+{"episode_index": 14, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 955}
+{"episode_index": 15, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1020}
+{"episode_index": 16, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 986}
+{"episode_index": 17, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1134}
+{"episode_index": 18, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1096}
+{"episode_index": 19, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1016}
+{"episode_index": 20, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1061}
+{"episode_index": 21, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 933}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes_stats.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6954278e59c994dc8a89fff7e7a65616180e38ff
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,22 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/info.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e51d00e6eabde3622d68298b8dea51c7b1b66f4
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
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+                "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/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_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/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/subtasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66513cd237134cfd69b67061ce9ffdb568ce6a97
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pull the drawer open with the right hand. | Skill: pull"}
+{"subtask_index": 1, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the first object into the drawer. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the first object into the drawer. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the second object into the drawer. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the second object into the drawer. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Move the third object into the drawer. | Skill: move"}
+{"subtask_index": 9, "subtask": "Place the third object into the drawer. | Skill: place"}
+{"subtask_index": 10, "subtask": "Push the drawer closed with the right hand. | Skill: push"}
+{"subtask_index": 11, "subtask": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/tasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2619d9722562fdab00fb1d10ccd35644ec1cf40c
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/v40_validation.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..30069ebf3e9b306a180fff8e640c75e33e83615d
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 22,
+  "frames": 23498,
+  "video_frames": {
+    "observation.images.head_left": 23498,
+    "observation.images.wrist_left": 23498,
+    "observation.images.wrist_right": 23498,
+    "observation.images.head_right": 23498,
+    "observation.images.tactile_deform": 23498,
+    "observation.images.tactile_raw": 23498
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 22
+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_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/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
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@@ -0,0 +1,3 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 365, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 405, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 435, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 545, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 610, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 730, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 755, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 770, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 850, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 365, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 405, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 435, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 545, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 610, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 730, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 755, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 770, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 850, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_41_41_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 335, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 336, "end_step": 360, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 375, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 475, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 540, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 635, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 670, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 700, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 770, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 335, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 336, "end_step": 360, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 375, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 475, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 540, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 635, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 670, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 700, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 770, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_56_31_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 478, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 576, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 620, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 634, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 736, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 816, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 478, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 576, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 620, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 634, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 736, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 816, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_59_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 236, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 237, "end_step": 338, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 376, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 388, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 476, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 477, "end_step": 530, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 556, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 922, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 923, "end_step": 954, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 976, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1082, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 236, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 237, "end_step": 338, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 376, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 388, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 476, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 477, "end_step": 530, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 556, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 922, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 923, "end_step": 954, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 976, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1082, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_18_02_39_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 418, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 526, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 628, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 676, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 744, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 832, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 878, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1004, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 418, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 526, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 628, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 676, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 744, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 832, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 878, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1004, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_18_13_03_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f20443b76a220b43df93fe67c1738b53e03a9729
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,22 @@
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 377, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 577, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 637, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 638, "end_step": 683, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 887, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 888, "end_step": 949, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 1003, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1166, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1167, "end_step": 1200, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1216, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1308, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 377, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 577, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 637, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 638, "end_step": 683, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 887, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 888, "end_step": 949, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 1003, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1166, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1167, "end_step": 1200, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1216, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1308, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_31_10_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 286, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 396, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 432, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 448, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 572, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 573, "end_step": 610, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 636, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 740, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 756, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 840, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 286, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 396, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 432, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 448, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 572, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 573, "end_step": 610, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 636, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 740, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 756, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 840, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_58_32_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 478, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 576, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 620, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 634, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 736, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 816, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 462, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 478, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 576, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 620, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 634, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 736, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 816, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_17_59_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 282, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 320, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 354, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 472, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 510, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 544, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 624, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 806, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 872, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 920, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 282, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 320, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 354, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 472, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 510, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 544, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 624, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 806, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 872, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 920, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_17_31_10_train/POC22007_2026_03_21_18_01_59_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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+                "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/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "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/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/stats.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6d97670dbd30942e54c1fcc5e70f0953933d5
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_17_31_10_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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index 0000000000000000000000000000000000000000..2ed42b12468f34c7377005e8a27a08cf70350220
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1 @@
+{"source_uid": "aefd0fc506cd6665", "num_frames": 1060, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_22_15_10_21_train/POC22007_2026_03_22_16_17_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed42b12468f34c7377005e8a27a08cf70350220
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1 @@
+{"source_uid": "aefd0fc506cd6665", "num_frames": 1060, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_22_15_10_21_train/POC22007_2026_03_22_16_17_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f353ce230454c978a0d49717661c9fe2f9ea6ba
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1060}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes_stats.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65c57777e708ac5fe718cc2c2390baaf11a3f165
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/info.json b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..626bf284377a5a5f0793e02753930507d2a675a9
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "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/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_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/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/subtasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66513cd237134cfd69b67061ce9ffdb568ce6a97
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pull the drawer open with the right hand. | Skill: pull"}
+{"subtask_index": 1, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the first object into the drawer. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the first object into the drawer. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the second object into the drawer. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the second object into the drawer. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Move the third object into the drawer. | Skill: move"}
+{"subtask_index": 9, "subtask": "Place the third object into the drawer. | Skill: place"}
+{"subtask_index": 10, "subtask": "Push the drawer closed with the right hand. | Skill: push"}
+{"subtask_index": 11, "subtask": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/tasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2619d9722562fdab00fb1d10ccd35644ec1cf40c
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/v40_validation.json b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..3027de036c8bd5f6b17809776b97b573af115afe
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 1,
+  "frames": 1060,
+  "video_frames": {
+    "observation.images.head_left": 1060,
+    "observation.images.wrist_left": 1060,
+    "observation.images.wrist_right": 1060,
+    "observation.images.head_right": 1060,
+    "observation.images.tactile_deform": 1060,
+    "observation.images.tactile_raw": 1060
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 1
+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotation_cache.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed42b12468f34c7377005e8a27a08cf70350220
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotation_cache.jsonl
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+{"source_uid": "aefd0fc506cd6665", "num_frames": 1060, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 241, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 416, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 466, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 496, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 497, "end_step": 656, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 657, "end_step": 711, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 731, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 732, "end_step": 836, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 881, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 882, "end_step": 901, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1001, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_22_15_10_21_train/POC22007_2026_03_22_16_17_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotations.jsonl
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+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/annotations.jsonl
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+{"source_uid": "aefd0fc506cd6665", "num_frames": 1060, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. 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+}
\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/stats.json b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ec8ce4b05cef589a5b4c3aea7d794a8ce12aed
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_22_15_10_21_train/lerobot_v3.0/meta/stats.json
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diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/annotations.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b10f84fcbca0886215fb078b77e8edbf9d80350
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,7 @@
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second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 936, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1005, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1188, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1248, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1410, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1638, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1639, "end_step": 1710, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit 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379, "end_step": 462, "id": "subtask-003", "text": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 654, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 936, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1005, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1188, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1248, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1410, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1638, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1639, "end_step": 1710, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1711, "end_step": 2094, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2095, "end_step": 2184, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 829, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 830, "end_step": 1314, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1398, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1614, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1615, "end_step": 1686, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1687, "end_step": 2148, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2149, "end_step": 2214, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2215, "end_step": 2376, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2377, "end_step": 2442, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2443, "end_step": 2622, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2623, "end_step": 2706, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Open the fruit storage bag with the right hand. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 432, "id": "subtask-002", "text": "Pick up the first blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 486, "id": "subtask-003", "text": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 720, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 829, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 830, "end_step": 1314, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1398, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1614, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1615, "end_step": 1686, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1687, "end_step": 2148, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2149, "end_step": 2214, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2215, "end_step": 2376, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2377, "end_step": 2442, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2443, "end_step": 2622, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2623, "end_step": 2706, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8deae946c0999fead7fed6d7512d3a23da542891
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,7 @@
+{"episode_index": 0, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 3 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 3 blueberries are placed on the table. The robot opens the bag with the right hand and places all 3 blueberries into it one by one with the left hand. | Success: All 3 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 2569}
+{"episode_index": 1, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 3 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 3 blueberries are placed on the table. The robot opens the bag with the right hand and places all 3 blueberries into it one by one with the left hand. | Success: All 3 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 2028}
+{"episode_index": 2, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 3598}
+{"episode_index": 3, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 6 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 6 blueberries are placed on the table. The robot opens the bag with the right hand and places all 6 blueberries into it one by one with the left hand. | Success: All 6 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 4444}
+{"episode_index": 4, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 4313}
+{"episode_index": 5, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 3810}
+{"episode_index": 6, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."], "length": 3928}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes_stats.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0bf24634a2fb79f32ea416bcfa097935173eccb2
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,7 @@
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diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/info.json b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..835a1073cf5daa8c867daedfb066bb6d34b30f3e
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "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/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/modality.json b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_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/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/subtasks.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8042449fc2321dd9b7fcd6aad1e0d3387984488d
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,18 @@
+{"subtask_index": 0, "subtask": "Open the fruit storage bag with the right hand. | Skill: open"}
+{"subtask_index": 1, "subtask": "Pick up the first blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the second blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 5, "subtask": "Pick up the third blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 6, "subtask": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 7, "subtask": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 3 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 3 blueberries are placed on the table. The robot opens the bag with the right hand and places all 3 blueberries into it one by one with the left hand. | Success: All 3 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
+{"subtask_index": 8, "subtask": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 9, "subtask": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 10, "subtask": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 11, "subtask": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 12, "subtask": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 13, "subtask": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 14, "subtask": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 15, "subtask": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 16, "subtask": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
+{"subtask_index": 17, "subtask": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 6 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 6 blueberries are placed on the table. The robot opens the bag with the right hand and places all 6 blueberries into it one by one with the left hand. | Success: All 6 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/tasks.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef1fd753a3e983e3d1c53028a8eb35fd42653492
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 3 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 3 blueberries are placed on the table. The robot opens the bag with the right hand and places all 3 blueberries into it one by one with the left hand. | Success: All 3 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
+{"task_index": 1, "task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 7 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 7 blueberries are placed on the table. The robot opens the bag with the right hand and places all 7 blueberries into it one by one with the left hand. | Success: All 7 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
+{"task_index": 2, "task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up each of the 6 blueberries with the left hand and place them into the bag one by one. | Scene: A fruit storage bag and 6 blueberries are placed on the table. The robot opens the bag with the right hand and places all 6 blueberries into it one by one with the left hand. | Success: All 6 blueberries are placed inside the fruit storage bag without being dropped or damaged."}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/v40_validation.json b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1bf87b085557452c4bf8f951634eb6f142c8235
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_11_14_32_10_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 7,
+  "frames": 24690,
+  "video_frames": {
+    "observation.images.head_left": 24690,
+    "observation.images.wrist_left": 24690,
+    "observation.images.wrist_right": 24690,
+    "observation.images.head_right": 24690,
+    "observation.images.tactile_deform": 24690,
+    "observation.images.tactile_raw": 24690
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 7
+}
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