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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bb7cf984f16f64169ca4cdb88aa358fd5e41baf
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,47 @@
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a2c273726e042c51c735e118c4efa19177c2300
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,47 @@
+{"episode_index": 0, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 471}
+{"episode_index": 1, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 439}
+{"episode_index": 2, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 428}
+{"episode_index": 3, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 457}
+{"episode_index": 4, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 435}
+{"episode_index": 5, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 422}
+{"episode_index": 6, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 364}
+{"episode_index": 7, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 400}
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+{"episode_index": 9, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 404}
+{"episode_index": 10, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 413}
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+{"episode_index": 14, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 427}
+{"episode_index": 15, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 438}
+{"episode_index": 16, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 391}
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+{"episode_index": 19, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 416}
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+{"episode_index": 39, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 377}
+{"episode_index": 40, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 398}
+{"episode_index": 41, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 368}
+{"episode_index": 42, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 370}
+{"episode_index": 43, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 369}
+{"episode_index": 44, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 387}
+{"episode_index": 45, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 358}
+{"episode_index": 46, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 359}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00447b45519d3397d6604c04a6f474bff3ab2c05
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,47 @@
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/info.json b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..783c2cac4e000b80b2a3ce4dc41cd3cb15c993d3
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "names": [
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+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
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+                480,
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+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.codec": "h264",
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+            }
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+            "dtype": "float32",
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+                "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",
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+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
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+        "observation.images.tactile_deform": {
+            "dtype": "video",
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+                1200,
+                3
+            ],
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+        }
+    }
+}
\ No newline at end of file
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/subtasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34ba100af339cab4fef46965d20359983184b1c2
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the cup above the plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the cup on the plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/tasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/v40_validation.json b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 47,
+  "frames": 19071,
+  "video_frames": {
+    "observation.images.head_left": 19071,
+    "observation.images.wrist_left": 19071,
+    "observation.images.wrist_right": 19071,
+    "observation.images.head_right": 19071,
+    "observation.images.tactile_deform": 19071,
+    "observation.images.tactile_raw": 19071
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 47
+}
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bb7cf984f16f64169ca4cdb88aa358fd5e41baf
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,47 @@
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+}
\ No newline at end of file
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "tactile_raw": {
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+  },
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+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/stats.json b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c133b44c41c818d7c197c56e8cd003d09ee72b
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_10_39_06_train/lerobot_v3.0/meta/stats.json
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebe2af8d9e719b785b8033426507fb5011b20135
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,94 @@
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43f0e44297d2285c8245475cc65a0b0615da646a
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,94 @@
+{"episode_index": 0, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 360}
+{"episode_index": 1, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 371}
+{"episode_index": 2, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 378}
+{"episode_index": 3, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 390}
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+{"episode_index": 5, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 362}
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+{"episode_index": 7, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 325}
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+{"episode_index": 9, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 350}
+{"episode_index": 10, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 391}
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+{"episode_index": 16, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 340}
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a118e0dcfa6cddddb70c8bb9fa816609882259b1
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,94 @@
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/info.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2648a15ea1fb152a2c24e4d7a06ac46aab7e167
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_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/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/subtasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34ba100af339cab4fef46965d20359983184b1c2
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the cup above the plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the cup on the plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/tasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..418820222fdadf83ded0269a76184517407b75aa
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/v40_validation.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..4932a08f1a466d5b52a43efc9cea503aeda2d338
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 94,
+  "frames": 35037,
+  "video_frames": {
+    "observation.images.head_left": 35037,
+    "observation.images.wrist_left": 35037,
+    "observation.images.wrist_right": 35037,
+    "observation.images.head_right": 35037,
+    "observation.images.tactile_deform": 35037,
+    "observation.images.tactile_raw": 35037
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 94
+}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
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