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README.md

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+<p align="center">
+  <img src="assets/assemble_parts_overview.gif" alt="RoCo Task Board Assembly overview" width="100%">
+</p>
+
+<h1 align="center">RoCo Task Board Assembly Demonstrations</h1>
+
+<p align="center">
+  <b>Real-world LeRobot demonstrations for contact-rich task-board assembly.</b>
+</p>
+
+<p align="center">
+  <a href="https://www.sharpa.com/"><img src="https://img.shields.io/badge/Website-sharpa.com-555555?style=flat-square" alt="Website"></a>
+  <a href="https://github.com/sharpa-robotics"><img src="https://img.shields.io/badge/GitHub-Sharpa-24292f?style=flat-square&logo=github&logoColor=white" alt="GitHub"></a>
+  <a href="https://www.linkedin.com/company/sharpa-robotics"><img src="https://img.shields.io/badge/LinkedIn-Sharpa-0a66c2?style=flat-square&logo=linkedin&logoColor=white" alt="LinkedIn"></a>
+  <a href="https://www.youtube.com/@sharpa-robotics"><img src="https://img.shields.io/badge/YouTube-Sharpa-ff0000?style=flat-square&logo=youtube&logoColor=white" alt="YouTube"></a>
+  <a href="https://x.com/SharpaRobotics"><img src="https://img.shields.io/badge/X-%40SharpaRobotics-000000?style=flat-square&logo=x&logoColor=white" alt="X"></a>
+  <a href="https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly"><img src="https://img.shields.io/badge/Dataset-Hugging%20Face-f3b000?style=flat-square" alt="Dataset"></a>
+</p>
+
+## Overview
+
+**RoCo Task Board Assembly Demonstrations** is a real-world robot manipulation dataset for assembling parts on a task board. It is released by **Sharpa** in a **LeRobot-compatible** format for imitation learning, visuomotor policy learning, visual-tactile representation learning, and contact-rich manipulation research.
+
+Task-board assembly requires precise part localization, fine contact timing, bimanual coordination, and robust perception under hand-object occlusion. The demonstrations include synchronized multi-view video, tactile observations, proprioceptive state, torque signals, and action targets.
+
+<table>
+  <tr>
+    <td><b>Task</b><br>Task-board part assembly</td>
+    <td><b>Format</b><br>LeRobot v3.0 / v2.1</td>
+    <td><b>Scale</b><br>10 seasons / 151 episodes</td>
+    <td><b>Frequency</b><br>30 FPS</td>
+  </tr>
+  <tr>
+    <td><b>Video</b><br>6 synchronized streams</td>
+    <td><b>State / Action</b><br>65D joint space</td>
+    <td><b>Tactile</b><br>60D signal + tactile video</td>
+    <td><b>Use</b><br>Training and policy development</td>
+  </tr>
+</table>
+
+## Dataset Capabilities
+
+| Capability | Dataset Support |
+| --- | --- |
+| Contact-rich assembly learning | Real-world demonstrations for assembling task-board parts |
+| Multi-view visuomotor policies | Synchronized head-camera and wrist-camera observations |
+| Visual-tactile learning | Tactile deformation video, raw tactile video, and 60D tactile signals |
+| Joint-space control | 65D synchronized state and action for two arms, two dexterous hands, and torso/motor-related joints |
+| LeRobot ecosystem | `lerobot3.0` and `lerobotv2.1` exports for every released season |
+
+## Example Views
+
+The demonstrations include synchronized head, wrist, and tactile video streams. Each preview below uses a 3-minute window from the same `lerobotv2.1` episode, played at 10x speed. GIF previews render directly in Markdown; click any preview to open the MP4 version. Tactile previews preserve their full wide-frame layout.
+
+<table>
+  <tr>
+    <td width="50%">
+      <b>Head Left</b><br>
+      <a href="assets/example_views/head_left.mp4">
+        <img src="assets/example_views/head_left.gif" alt="Head Left" width="100%">
+      </a>
+    </td>
+    <td width="50%">
+      <b>Head Right</b><br>
+      <a href="assets/example_views/head_right.mp4">
+        <img src="assets/example_views/head_right.gif" alt="Head Right" width="100%">
+      </a>
+    </td>
+  </tr>
+  <tr>
+    <td width="50%">
+      <b>Wrist Left</b><br>
+      <a href="assets/example_views/wrist_left.mp4">
+        <img src="assets/example_views/wrist_left.gif" alt="Wrist Left" width="100%">
+      </a>
+    </td>
+    <td width="50%">
+      <b>Wrist Right</b><br>
+      <a href="assets/example_views/wrist_right.mp4">
+        <img src="assets/example_views/wrist_right.gif" alt="Wrist Right" width="100%">
+      </a>
+    </td>
+  </tr>
+  <tr>
+    <td width="50%">
+      <b>Tactile Deformation</b><br>
+      <a href="assets/example_views/tactile_deform.mp4">
+        <img src="assets/example_views/tactile_deform.gif" alt="Tactile Deformation" width="100%">
+      </a>
+    </td>
+    <td width="50%">
+      <b>Raw Tactile</b><br>
+      <a href="assets/example_views/tactile_raw.mp4">
+        <img src="assets/example_views/tactile_raw.gif" alt="Raw Tactile" width="100%">
+      </a>
+    </td>
+  </tr>
+</table>
+
+## Dataset Statistics
+
+| Item | Value |
+| --- | ---: |
+| Total collection seasons | 10 |
+| `lerobot3.0` seasons | 10 |
+| `lerobot3.0` episodes | 151 |
+| `lerobot3.0` frames | 733,809 |
+| `lerobotv2.1` seasons | 10 |
+| `lerobotv2.1` episodes | 151 |
+| `lerobotv2.1` frames | 733,809 |
+| FPS | 30 |
+| Video streams | 6 |
+| State/action dimension | 65 |
+| Tactile signal dimension | 60 |
+| Approximate data size | 104.8 GB |
+
+For new users, we recommend starting from `lerobot3.0`. The `lerobotv2.1` export is included for compatibility with pipelines that still depend on the older LeRobot layout.
+
+## Get Started
+
+### Download The Dataset
+
+Make sure Git LFS is installed before cloning from Hugging Face.
+
+```bash
+git lfs install
+git clone https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly
+```
+
+If you want to clone only metadata first and fetch large files later:
+
+```bash
+GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly
+```
+
+If you only want a specific season, use sparse checkout:
+
+```bash
+git init RoCo_TaskBoardAssembly
+cd RoCo_TaskBoardAssembly
+git remote add origin https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly
+git sparse-checkout init
+git sparse-checkout set season_POC22061_2026_06_11_14_29_08_train README.md
+git pull origin main
+```
+
+### Quick Inspection
+
+Each season contains both `lerobot3.0` and `lerobotv2.1` exports. Inspect `meta/info.json` first to understand the exact schema and file templates.
+
+```python
+import json
+from pathlib import Path
+
+dataset_root = Path("RoCo_TaskBoardAssembly")
+episode_root = dataset_root / "season_POC22061_2026_06_11_14_29_08_train" / "lerobot3.0"
+
+with open(episode_root / "meta" / "info.json", "r") as f:
+    info = json.load(f)
+
+print(info["total_episodes"])
+print(info["total_frames"])
+print(info["features"].keys())
+```
+
+## Dataset Structure
+
+The dataset is organized by collection season. Each season contains a `lerobot3.0` export and a `lerobotv2.1` export.
+
+```text
+RoCo_TaskBoardAssembly/
+├── README.md
+├── season_POC22061_2026_06_11_14_29_08_train/
+│   ├── lerobot3.0/
+│   │   ├── meta/
+│   │   │   ├── info.json
+│   │   │   ├── modality.json
+│   │   │   ├── episodes/
+│   │   │   └── tasks.parquet
+│   │   ├── data/
+│   │   │   └── chunk-000/
+│   │   └── videos/
+│   │       ├── observation.images.head_left/
+│   │       ├── observation.images.head_right/
+│   │       ├── observation.images.wrist_left/
+│   │       ├── observation.images.wrist_right/
+│   │       ├── observation.images.tactile_deform/
+│   │       └── observation.images.tactile_raw/
+│   └── lerobotv2.1/
+│       ├── meta/
+│       ├── data/
+│       └── videos/
+└── season_.../
+```
+
+### LeRobot Storage Layout
+
+| Part | Description |
+| --- | --- |
+| `meta/` | Dataset metadata, feature schema, task metadata, and path templates |
+| `data/` | Episode frame data stored as Apache Parquet files |
+| `videos/` | Per-camera MP4 videos |
+
+The most important metadata file is `meta/info.json`. It defines `total_episodes`, `total_frames`, `fps`, `splits`, `data_path`, `video_path`, and `features`.
+
+### File Path Templates
+
+LeRobot v3.0 uses templates similar to:
+
+```text
+data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
+videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
+```
+
+LeRobot v2.1 uses templates similar to:
+
+```text
+data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
+videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
+```
+
+## Features Schema
+
+### Main Feature Groups
+
+| Feature | Type | Shape | Description |
+| --- | --- | ---: | --- |
+| `observation.state` | float32 | 65 | Joint-space robot state |
+| `action` | float32 | 65 | Joint-space action |
+| `observation.state.joint_torque` | float32 | 65 | Joint torque signal |
+| `observation.tactile` | float32 | 60 | Tactile force/torque signal |
+| `observation.images.*` | video | varies | Multi-view visual observations |
+| `timestamp` | float32 | 1 | Timestamp |
+| `frame_index` | int64 | 1 | Frame index within an episode |
+| `episode_index` | int64 | 1 | Episode index |
+| `task_index` | int64 | 1 | Task index |
+
+### Proprioceptive State
+
+The 65D `observation.state` and `action` vectors are ordered as follows:
+
+| Range | Names | Meaning |
+| --- | --- | --- |
+| 0 - 6 | `left_arm_j0` to `left_arm_j6` | Left arm joints |
+| 7 - 28 | `left_hand_j0` to `left_hand_j21` | Left dexterous hand joints |
+| 29 - 35 | `right_arm_j0` to `right_arm_j6` | Right arm joints |
+| 36 - 57 | `right_hand_j0` to `right_hand_j21` | Right dexterous hand joints |
+| 58 - 64 | `motor_j0` to `motor_j6` | Torso / motor-related joints |
+
+### Video Streams
+
+The complete visual observation set contains six camera streams:
+
+| Feature key | Description | Shape |
+| --- | --- | --- |
+| `observation.images.head_left` | Left head camera | 480 x 480 x 3 |
+| `observation.images.head_right` | Right head camera | 480 x 480 x 3 |
+| `observation.images.wrist_left` | Left wrist camera | 480 x 480 x 3 |
+| `observation.images.wrist_right` | Right wrist camera | 480 x 480 x 3 |
+| `observation.images.tactile_deform` | Tactile deformation video | 480 x 1200 x 3 |
+| `observation.images.tactile_raw` | Raw tactile video | 480 x 1600 x 3 |
+
+Video files are MP4 without audio. Codec may differ across exports and seasons. `lerobot3.0` is primarily AV1, while `lerobotv2.1` is primarily H.264.
+
+## Season List
+
+| Season | `lerobot3.0` | `lerobotv2.1` |
+| --- | ---: | ---: |
+| `season_POC22061_2026_06_11_14_29_08_train` | 3.64 GB | 3.65 GB |
+| `season_POC22061_2026_06_11_19_10_57_train` | 3.70 GB | 3.71 GB |
+| `season_POC22061_2026_06_11_20_21_30_train` | 5.11 GB | 5.13 GB |
+| `season_POC22061_2026_06_14_10_25_39_train` | 4.10 GB | 4.12 GB |
+| `season_POC22061_2026_06_14_15_44_09_train` | 7.95 GB | 7.97 GB |
+| `season_POC22061_2026_06_15_10_15_11_train` | 4.37 GB | 4.38 GB |
+| `season_POC22061_2026_06_15_11_15_27_train` | 3.13 GB | 3.14 GB |
+| `season_POC22061_2026_06_15_15_56_02_train` | 10.70 GB | 10.73 GB |
+| `season_POC22061_2026_06_15_19_24_12_train` | 6.94 GB | 6.97 GB |
+| `season_POC22061_2026_06_16_10_36_10_train` | 2.65 GB | 2.66 GB |
+
+## Usage Recommendations
+
+This release is provided as training data. For local experiments, users may split by season to avoid mixing demonstrations from the same collection session across train and evaluation sets.
+
+For policy learning, a typical setup is:
+
+- Visual observations: one or more `observation.images.*` streams
+- Proprioception: `observation.state`
+- Optional tactile signal: `observation.tactile`
+- Supervision target: `action`
+
+For multi-view policies, start with:
+
+```text
+observation.images.head_left
+observation.images.head_right
+observation.images.wrist_left
+observation.images.wrist_right
+```
+
+Then add tactile video streams if your model can use high-resolution tactile observations:
+
+```text
+observation.images.tactile_deform
+observation.images.tactile_raw
+```
+
+## Dataset Notes
+
+- This repository contains only the LeRobot exports prepared for release.
+- Raw POC recording folders and intermediate HDF5 folders are intentionally excluded from this release.
+- The dataset is released by season, not as a single flattened LeRobot root.
+- Every released season includes both `lerobot3.0` and `lerobotv2.1`.
+- `motor_j0` to `motor_j6` are the torso/motor-related dimensions in `observation.state` and `action`.
+- The task is contact-rich and precision-sensitive: policies should expect object contacts, hand-part occlusions, tactile events, and fine pose adjustments.
+
+## License and Terms
+
+Please follow the license and usage terms specified by this Hugging Face dataset repository. If you use the dataset for challenge participation, also follow the official competition rules and evaluation protocol.
+
+## Citation
+
+If this dataset contributes to your research, please cite or acknowledge the dataset.
+
+```bibtex
+@misc{roco_task_board_assembly_2026,
+  title        = {RoCo Task Board Assembly LeRobot Dataset},
+  howpublished = {\url{https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly}},
+  year         = {2026}
+}
+```

season_POC22061_2026_06_17_10_36_58_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 21,
+  "total_frames": 97970,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:21"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.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",
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+      }
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+        "left_thumb_tz",
+        "left_index_fx",
+        "left_index_fy",
+        "left_index_fz",
+        "left_index_tx",
+        "left_index_ty",
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+        "left_middle_fy",
+        "left_middle_fz",
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+        "left_middle_ty",
+        "left_middle_tz",
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+        "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",
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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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+}

season_POC22061_2026_06_17_10_36_58_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
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+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
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+    "wrist_right": {
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+    "head_right": {
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+      "rotation_type": null,
+      "absolute": true,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_10_36_58_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,21 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 4428}
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+{"episode_index": 19, "tasks": ["north ces task"], "length": 7007}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 4723}

season_POC22061_2026_06_17_10_36_58_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
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+  }
+}

season_POC22061_2026_06_17_10_36_58_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_10_36_58_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}

season_POC22061_2026_06_17_13_36_51_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 22,
+  "total_frames": 92128,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:22"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.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
+    }
+  }
+}

season_POC22061_2026_06_17_13_36_51_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_13_36_51_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,22 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 5558}
+{"episode_index": 1, "tasks": ["north ces task"], "length": 4281}
+{"episode_index": 2, "tasks": ["north ces task"], "length": 4478}
+{"episode_index": 3, "tasks": ["north ces task"], "length": 4252}
+{"episode_index": 4, "tasks": ["north ces task"], "length": 3596}
+{"episode_index": 5, "tasks": ["north ces task"], "length": 3472}
+{"episode_index": 6, "tasks": ["north ces task"], "length": 3960}
+{"episode_index": 7, "tasks": ["north ces task"], "length": 4607}
+{"episode_index": 8, "tasks": ["north ces task"], "length": 5308}
+{"episode_index": 9, "tasks": ["north ces task"], "length": 3749}
+{"episode_index": 10, "tasks": ["north ces task"], "length": 3376}
+{"episode_index": 11, "tasks": ["north ces task"], "length": 5955}
+{"episode_index": 12, "tasks": ["north ces task"], "length": 3868}
+{"episode_index": 13, "tasks": ["north ces task"], "length": 3474}
+{"episode_index": 14, "tasks": ["north ces task"], "length": 3452}
+{"episode_index": 15, "tasks": ["north ces task"], "length": 4271}
+{"episode_index": 16, "tasks": ["north ces task"], "length": 3760}
+{"episode_index": 17, "tasks": ["north ces task"], "length": 3488}
+{"episode_index": 18, "tasks": ["north ces task"], "length": 4940}
+{"episode_index": 19, "tasks": ["north ces task"], "length": 4197}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 4352}
+{"episode_index": 21, "tasks": ["north ces task"], "length": 3734}

season_POC22061_2026_06_17_13_36_51_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "north_ces",
+  "total_episodes": 22,
+  "total_frames": 92128,
+  "total_tasks": 1,
+  "total_videos": 132,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:22"
+  },
+  "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": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.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
+    }
+  }
+}

season_POC22061_2026_06_17_13_36_51_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_13_36_51_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}

season_POC22061_2026_06_17_15_33_05_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 25,
+  "total_frames": 117853,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:25"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.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,
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+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.tactile_raw": {
+      "dtype": "video",
+      "shape": [
+        480,
+        1600,
+        3
+      ],
+      "names": [
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+        "width",
+        "channels"
+      ],
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+      }
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+    },
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+      "names": null
+    }
+  }
+}

season_POC22061_2026_06_17_15_33_05_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_15_33_05_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,25 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 3987}
+{"episode_index": 1, "tasks": ["north ces task"], "length": 4250}
+{"episode_index": 2, "tasks": ["north ces task"], "length": 3234}
+{"episode_index": 3, "tasks": ["north ces task"], "length": 3681}
+{"episode_index": 4, "tasks": ["north ces task"], "length": 3425}
+{"episode_index": 5, "tasks": ["north ces task"], "length": 4837}
+{"episode_index": 6, "tasks": ["north ces task"], "length": 3744}
+{"episode_index": 7, "tasks": ["north ces task"], "length": 3854}
+{"episode_index": 8, "tasks": ["north ces task"], "length": 4568}
+{"episode_index": 9, "tasks": ["north ces task"], "length": 3329}
+{"episode_index": 10, "tasks": ["north ces task"], "length": 5042}
+{"episode_index": 11, "tasks": ["north ces task"], "length": 5084}
+{"episode_index": 12, "tasks": ["north ces task"], "length": 5983}
+{"episode_index": 13, "tasks": ["north ces task"], "length": 5385}
+{"episode_index": 14, "tasks": ["north ces task"], "length": 4673}
+{"episode_index": 15, "tasks": ["north ces task"], "length": 5571}
+{"episode_index": 16, "tasks": ["north ces task"], "length": 4838}
+{"episode_index": 17, "tasks": ["north ces task"], "length": 9291}
+{"episode_index": 18, "tasks": ["north ces task"], "length": 3869}
+{"episode_index": 19, "tasks": ["north ces task"], "length": 3624}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 4785}
+{"episode_index": 21, "tasks": ["north ces task"], "length": 4532}
+{"episode_index": 22, "tasks": ["north ces task"], "length": 5055}
+{"episode_index": 23, "tasks": ["north ces task"], "length": 4705}
+{"episode_index": 24, "tasks": ["north ces task"], "length": 6507}

season_POC22061_2026_06_17_15_33_05_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "north_ces",
+  "total_episodes": 25,
+  "total_frames": 117853,
+  "total_tasks": 1,
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+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:25"
+  },
+  "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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+        "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"
+      ]
+    },
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+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "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": {
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+      "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.images.head_left": {
+      "dtype": "video",
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+        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"
+      ],
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+        "video.width": 480,
+        "video.codec": "h264",
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+        "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"
+      ],
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+        "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
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+      "names": null
+    },
+    "episode_index": {
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+        1
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+    },
+    "index": {
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+        1
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+    },
+    "task_index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}

season_POC22061_2026_06_17_15_33_05_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_17_15_33_05_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}

season_POC22061_2026_06_18_10_08_09_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 22,
+  "total_frames": 93254,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:22"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
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+        "left_hand_j4",
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+        "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"
+      ]
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+        "left_arm_j0",
+        "left_arm_j1",
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+        "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",
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+        "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": {
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+      "shape": [
+        65
+      ],
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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.images.head_left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        480,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
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+        "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"
+      ],
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+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.wrist_right": {
+      "dtype": "video",
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+        480,
+        480,
+        3
+      ],
+      "names": [
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+        "width",
+        "channels"
+      ],
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+    },
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+      ],
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+      }
+    },
+    "observation.tactile": {
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+      ],
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+        "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": {
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+        3
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+      }
+    },
+    "observation.images.tactile_raw": {
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+    }
+  }
+}

season_POC22061_2026_06_18_10_08_09_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_18_10_08_09_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,22 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 3485}
+{"episode_index": 1, "tasks": ["north ces task"], "length": 7630}
+{"episode_index": 2, "tasks": ["north ces task"], "length": 8357}
+{"episode_index": 3, "tasks": ["north ces task"], "length": 4201}
+{"episode_index": 4, "tasks": ["north ces task"], "length": 3659}
+{"episode_index": 5, "tasks": ["north ces task"], "length": 5726}
+{"episode_index": 6, "tasks": ["north ces task"], "length": 3541}
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+{"episode_index": 15, "tasks": ["north ces task"], "length": 5462}
+{"episode_index": 16, "tasks": ["north ces task"], "length": 3640}
+{"episode_index": 17, "tasks": ["north ces task"], "length": 3582}
+{"episode_index": 18, "tasks": ["north ces task"], "length": 3268}
+{"episode_index": 19, "tasks": ["north ces task"], "length": 3240}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 3325}
+{"episode_index": 21, "tasks": ["north ces task"], "length": 3327}

season_POC22061_2026_06_18_10_08_09_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "north_ces",
+  "total_episodes": 22,
+  "total_frames": 93254,
+  "total_tasks": 1,
+  "total_videos": 132,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:22"
+  },
+  "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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+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
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+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
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+        "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"
+      ]
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+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
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+        "left_hand_j3",
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+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
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+        "left_hand_j9",
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+        "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",
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+        "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": {
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+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
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+      ],
+      "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",
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+        "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.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
+    }
+  }
+}

season_POC22061_2026_06_18_10_08_09_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_18_10_08_09_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}

season_POC22061_2026_06_18_13_41_46_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 21,
+  "total_frames": 81876,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:21"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.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
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+    },
+    "index": {
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+        1
+      ],
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+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}

season_POC22061_2026_06_18_13_41_46_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_18_13_41_46_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,21 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 5053}
+{"episode_index": 1, "tasks": ["north ces task"], "length": 3510}
+{"episode_index": 2, "tasks": ["north ces task"], "length": 3052}
+{"episode_index": 3, "tasks": ["north ces task"], "length": 3735}
+{"episode_index": 4, "tasks": ["north ces task"], "length": 5714}
+{"episode_index": 5, "tasks": ["north ces task"], "length": 4041}
+{"episode_index": 6, "tasks": ["north ces task"], "length": 3223}
+{"episode_index": 7, "tasks": ["north ces task"], "length": 6208}
+{"episode_index": 8, "tasks": ["north ces task"], "length": 3892}
+{"episode_index": 9, "tasks": ["north ces task"], "length": 3938}
+{"episode_index": 10, "tasks": ["north ces task"], "length": 3775}
+{"episode_index": 11, "tasks": ["north ces task"], "length": 2884}
+{"episode_index": 12, "tasks": ["north ces task"], "length": 3773}
+{"episode_index": 13, "tasks": ["north ces task"], "length": 3326}
+{"episode_index": 14, "tasks": ["north ces task"], "length": 3677}
+{"episode_index": 15, "tasks": ["north ces task"], "length": 2983}
+{"episode_index": 16, "tasks": ["north ces task"], "length": 3033}
+{"episode_index": 17, "tasks": ["north ces task"], "length": 3487}
+{"episode_index": 18, "tasks": ["north ces task"], "length": 6271}
+{"episode_index": 19, "tasks": ["north ces task"], "length": 3388}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 2913}

season_POC22061_2026_06_18_13_41_46_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "north_ces",
+  "total_episodes": 21,
+  "total_frames": 81876,
+  "total_tasks": 1,
+  "total_videos": 126,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:21"
+  },
+  "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": {
+    "observation.state": {
+      "dtype": "float32",
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+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
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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.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.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
+    }
+  }
+}

season_POC22061_2026_06_18_13_41_46_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_18_13_41_46_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}

season_POC22061_2026_06_20_19_18_15_train/lerobot3.0/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "north_ces",
+  "total_episodes": 21,
+  "total_frames": 76043,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:21"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.joint_torque": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.state.tcp": {
+      "dtype": "float32",
+      "shape": [
+        24
+      ],
+      "names": [
+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        65
+      ],
+      "names": [
+        "left_arm_j0",
+        "left_arm_j1",
+        "left_arm_j2",
+        "left_arm_j3",
+        "left_arm_j4",
+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
+        "left_hand_j2",
+        "left_hand_j3",
+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
+        "left_hand_j7",
+        "left_hand_j8",
+        "left_hand_j9",
+        "left_hand_j10",
+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
+        "left_hand_j14",
+        "left_hand_j15",
+        "left_hand_j16",
+        "left_hand_j17",
+        "left_hand_j18",
+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
+        "right_arm_j0",
+        "right_arm_j1",
+        "right_arm_j2",
+        "right_arm_j3",
+        "right_arm_j4",
+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
+        "right_hand_j2",
+        "right_hand_j3",
+        "right_hand_j4",
+        "right_hand_j5",
+        "right_hand_j6",
+        "right_hand_j7",
+        "right_hand_j8",
+        "right_hand_j9",
+        "right_hand_j10",
+        "right_hand_j11",
+        "right_hand_j12",
+        "right_hand_j13",
+        "right_hand_j14",
+        "right_hand_j15",
+        "right_hand_j16",
+        "right_hand_j17",
+        "right_hand_j18",
+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
+      ]
+    },
+    "observation.images.head_left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        480,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
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+        "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"
+      ],
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+        "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"
+      ],
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+        "video.pix_fmt": "yuv420p",
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+      }
+    },
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+      ],
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+        "channels"
+      ],
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+      }
+    },
+    "observation.tactile": {
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+      "shape": [
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+      ],
+      "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": {
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+        3
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+      }
+    },
+    "observation.images.tactile_raw": {
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+        3
+      ],
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+      }
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+    },
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+    }
+  }
+}

season_POC22061_2026_06_20_19_18_15_train/lerobot3.0/meta/modality.json

@@ -0,0 +1,41 @@
+{
+  "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"
+    }
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+  "state": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_20_19_18_15_train/lerobotv2.1/meta/episodes.jsonl

@@ -0,0 +1,21 @@
+{"episode_index": 0, "tasks": ["north ces task"], "length": 3748}
+{"episode_index": 1, "tasks": ["north ces task"], "length": 3198}
+{"episode_index": 2, "tasks": ["north ces task"], "length": 3093}
+{"episode_index": 3, "tasks": ["north ces task"], "length": 3007}
+{"episode_index": 4, "tasks": ["north ces task"], "length": 6058}
+{"episode_index": 5, "tasks": ["north ces task"], "length": 3075}
+{"episode_index": 6, "tasks": ["north ces task"], "length": 3146}
+{"episode_index": 7, "tasks": ["north ces task"], "length": 4057}
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+{"episode_index": 15, "tasks": ["north ces task"], "length": 3326}
+{"episode_index": 16, "tasks": ["north ces task"], "length": 3745}
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+{"episode_index": 18, "tasks": ["north ces task"], "length": 3551}
+{"episode_index": 19, "tasks": ["north ces task"], "length": 3621}
+{"episode_index": 20, "tasks": ["north ces task"], "length": 4087}

season_POC22061_2026_06_20_19_18_15_train/lerobotv2.1/meta/info.json

@@ -0,0 +1,490 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "north_ces",
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+  "total_frames": 76043,
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+  "fps": 30,
+  "splits": {
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+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
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+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
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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"
+      ]
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+        "left_hand_j0",
+        "left_hand_j1",
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+        "left_hand_j4",
+        "left_hand_j5",
+        "left_hand_j6",
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+        "left_hand_j11",
+        "left_hand_j12",
+        "left_hand_j13",
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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",
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+        "right_arm_j3",
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+        "right_arm_j5",
+        "right_arm_j6",
+        "right_hand_j0",
+        "right_hand_j1",
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+        "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"
+      ]
+    },
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+      ],
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+        "left_arm_tcp_pose",
+        "left_arm_tcp_forces",
+        "right_arm_tcp_pose",
+        "right_arm_tcp_forces"
+      ]
+    },
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+        "left_arm_j5",
+        "left_arm_j6",
+        "left_hand_j0",
+        "left_hand_j1",
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+        "left_hand_j3",
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+        "left_hand_j5",
+        "left_hand_j6",
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+        "left_hand_j19",
+        "left_hand_j20",
+        "left_hand_j21",
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+        "right_arm_j6",
+        "right_hand_j0",
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+        "right_hand_j13",
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+        "right_hand_j16",
+        "right_hand_j17",
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+        "right_hand_j19",
+        "right_hand_j20",
+        "right_hand_j21",
+        "motor_j0",
+        "motor_j1",
+        "motor_j2",
+        "motor_j3",
+        "motor_j4",
+        "motor_j5",
+        "motor_j6"
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+        3
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+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.wrist_left": {
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+        3
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+        "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
+    }
+  }
+}

season_POC22061_2026_06_20_19_18_15_train/lerobotv2.1/meta/modality.json

@@ -0,0 +1,38 @@
+{
+  "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"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}

season_POC22061_2026_06_20_19_18_15_train/lerobotv2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "north ces task"}