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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d47341f4114a56ca1982863f9ff0240947bd8e6
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,39 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/modality.json
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1db92db137ea7ae4aca36d1c1b6b46d9d360d1e
--- /dev/null
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..695418ed0ed339ca74cfd6d45f35196246f3783a
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,33 @@
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+{"source_uid": "585d8432ad49d91d", "num_frames": 942, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 323, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 324, "end_step": 375, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 478, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 729, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 868, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 323, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 324, "end_step": 375, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 478, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 729, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 868, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_19_17_57_train/POC22007_2026_03_30_20_16_16_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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+{"source_uid": "afb43ce6f4de32cc", "num_frames": 1301, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 251, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 252, "end_step": 382, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 470, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 682, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 1108, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1219, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 251, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 252, "end_step": 382, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 470, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 682, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 1108, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1219, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_19_17_57_train/POC22007_2026_03_30_20_17_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..497f3bee7d960dc0fcd1541b6ed4febb60ec11b3
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,33 @@
+{"episode_index": 0, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1290}
+{"episode_index": 1, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1080}
+{"episode_index": 2, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 882}
+{"episode_index": 3, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 923}
+{"episode_index": 4, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 953}
+{"episode_index": 5, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 869}
+{"episode_index": 6, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 928}
+{"episode_index": 7, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 822}
+{"episode_index": 8, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 872}
+{"episode_index": 9, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1056}
+{"episode_index": 10, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1027}
+{"episode_index": 11, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1177}
+{"episode_index": 12, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 961}
+{"episode_index": 13, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 930}
+{"episode_index": 14, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 957}
+{"episode_index": 15, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 996}
+{"episode_index": 16, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 992}
+{"episode_index": 17, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1199}
+{"episode_index": 18, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 997}
+{"episode_index": 19, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1044}
+{"episode_index": 20, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1240}
+{"episode_index": 21, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1131}
+{"episode_index": 22, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1013}
+{"episode_index": 23, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 998}
+{"episode_index": 24, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1149}
+{"episode_index": 25, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1066}
+{"episode_index": 26, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1191}
+{"episode_index": 27, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 992}
+{"episode_index": 28, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1142}
+{"episode_index": 29, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 932}
+{"episode_index": 30, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 942}
+{"episode_index": 31, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 950}
+{"episode_index": 32, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1301}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a116fbe9966aa4074653947f786973e4b6e0f71
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,33 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..607cfa2233c96c713b772c594c4208110fb349c5
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38aa45ace22c190a1620fe56fc4d4be628ea9cf0
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the cup from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cap from the table with the right hand. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the cap above the cup opening with the right hand. | Skill: move"}
+{"subtask_index": 3, "subtask": "Align the cap with the cup opening with the right hand. | Skill: align"}
+{"subtask_index": 4, "subtask": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 5, "subtask": "Place the cup on the table with the left hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b95f12860ef447c425fa7ead19d06f285f4139e
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e1a99c297ba97feb5b6517b64e06b5b7df316f
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 33,
+  "frames": 34002,
+  "video_frames": {
+    "observation.images.head_left": 34002,
+    "observation.images.wrist_left": 34002,
+    "observation.images.wrist_right": 34002,
+    "observation.images.head_right": 34002,
+    "observation.images.tactile_deform": 34002,
+    "observation.images.tactile_raw": 34002
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 33
+}
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..695418ed0ed339ca74cfd6d45f35196246f3783a
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,33 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_19_17_57_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..475ebf56c8fc9552c4eb3d79f733224ffe1732c8
--- /dev/null
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+{"source_uid": "491cd06054545a02", "num_frames": 1061, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_20_33_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cf7432a108c6e71cbc63b9946da2d19b757d5a6
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,35 @@
+{"source_uid": "491cd06054545a02", "num_frames": 1061, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_20_33_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "f9565730e996701c", "num_frames": 748, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 254, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 288, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 368, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 369, "end_step": 570, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 700, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 254, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 288, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 368, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 369, "end_step": 570, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 700, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_21_24_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "609c0207a0965f0e", "num_frames": 807, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 128, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 129, "end_step": 218, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 284, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 386, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 387, "end_step": 634, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 732, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 128, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 129, "end_step": 218, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 284, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 386, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 387, "end_step": 634, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 732, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_21_25_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "41c5e64140fc3c18", "num_frames": 802, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 190, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 224, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 356, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 646, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 752, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 190, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 224, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 356, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 646, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 752, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_21_26_18_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d0ff6bec4a809f7729a06a685e06099db228005
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,35 @@
+{"episode_index": 0, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1061}
+{"episode_index": 1, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 779}
+{"episode_index": 2, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 726}
+{"episode_index": 3, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 997}
+{"episode_index": 4, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 894}
+{"episode_index": 5, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 904}
+{"episode_index": 6, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 873}
+{"episode_index": 7, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 852}
+{"episode_index": 8, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 802}
+{"episode_index": 9, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 873}
+{"episode_index": 10, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1075}
+{"episode_index": 11, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 949}
+{"episode_index": 12, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 897}
+{"episode_index": 13, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 828}
+{"episode_index": 14, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 876}
+{"episode_index": 15, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 762}
+{"episode_index": 16, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 842}
+{"episode_index": 17, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 961}
+{"episode_index": 18, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 987}
+{"episode_index": 19, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 803}
+{"episode_index": 20, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 946}
+{"episode_index": 21, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 993}
+{"episode_index": 22, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1002}
+{"episode_index": 23, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 797}
+{"episode_index": 24, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 741}
+{"episode_index": 25, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 723}
+{"episode_index": 26, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 822}
+{"episode_index": 27, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 798}
+{"episode_index": 28, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 1032}
+{"episode_index": 29, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 988}
+{"episode_index": 30, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 752}
+{"episode_index": 31, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 872}
+{"episode_index": 32, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 748}
+{"episode_index": 33, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 807}
+{"episode_index": 34, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."], "length": 802}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6167b3d05e42cabdd9b3f95747673759f637dea
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,35 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bb7f93cdcbccec9c7f1f24756d90c5e3751d6f2
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38aa45ace22c190a1620fe56fc4d4be628ea9cf0
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the cup from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cap from the table with the right hand. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the cap above the cup opening with the right hand. | Skill: move"}
+{"subtask_index": 3, "subtask": "Align the cap with the cup opening with the right hand. | Skill: align"}
+{"subtask_index": 4, "subtask": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 5, "subtask": "Place the cup on the table with the left hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b95f12860ef447c425fa7ead19d06f285f4139e
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..89f149aa95cadd6768c1b2a1c86938b63f90805f
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 35,
+  "frames": 30564,
+  "video_frames": {
+    "observation.images.head_left": 30564,
+    "observation.images.wrist_left": 30564,
+    "observation.images.wrist_right": 30564,
+    "observation.images.head_right": 30564,
+    "observation.images.tactile_deform": 30564,
+    "observation.images.tactile_raw": 30564
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 35
+}
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cf7432a108c6e71cbc63b9946da2d19b757d5a6
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,35 @@
+{"source_uid": "491cd06054545a02", "num_frames": 1061, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand. | Scene: A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table. | Success: The cap is tightly secured on the cup, and the cup is stably placed on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand and pick up the cap with the right hand. Move the cap above the cup opening, align it with the cup, rotate the cap to tighten it, and then place the cup on the table with the left hand.", "scene_description": "A cup and a cap are placed on the table. The robot needs to pick up the cup and the cap, align the cap with the cup opening, tighten the cap onto the cup, and place the cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 248, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 355, "id": "subtask-002", "text": "Pick up the cap from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 413, "id": "subtask-003", "text": "Move the cap above the cup opening with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 636, "id": "subtask-004", "text": "Align the cap with the cup opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 902, "id": "subtask-005", "text": "Rotate the cap to tighten it onto the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 999, "id": "subtask-006", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_20_33_13_train/POC22007_2026_03_30_20_33_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa39b35d2bfea3ba3610cf3b453b48b976beacb
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_20_33_13_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/annotations.jsonl b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d194776567a2d168c9d1a39df84ce110d0f269c
--- /dev/null
+++ b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,29 @@
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+{"source_uid": "93e8d2a55b7c61e5", "num_frames": 2031, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag.", "tags": {"task_name": "tomato_boxed_lunch_packaging", "task_instruction": "Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag.", "scene_description": "A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag.", "success_criteria": "All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the fruit tray containing the tomatoes with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "fa1f0dea-3ab5-4966-b246-fa332959e744"}, {"label": "valid", "start_step": 0, "end_step": 2001, "id": "gKmXGOkBvYpXH4nAEFC_r"}, {"label": "subtasks", "start_step": 161, "end_step": 380, "id": "subtask-002", "text": "Tip the fruit tray and pour the tomatoes into the food packaging box with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "goal", "start_step": 161, "end_step": 380, "id": "ea5b3c6e-1ac8-4bd0-848c-24822c161ca8"}, {"label": "subtasks", "start_step": 381, "end_step": 465, "id": "subtask-003", "text": "Place the empty fruit tray on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 381, "end_step": 465, "id": "455c47eb-416d-42c1-b521-2130aca24318"}, {"label": "subtasks", "start_step": 466, "end_step": 675, "id": "subtask-004", "text": "Pick up the packaging lid with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 466, "end_step": 675, "id": "1f24907e-b042-4db7-8ec2-e5c4c460560b"}, {"label": "subtasks", "start_step": 676, "end_step": 885, "id": "subtask-005", "text": "Place the packaging lid onto the food packaging box with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 676, "end_step": 885, "id": "d27dc632-6725-4d9f-b0f2-84dd7ebccc3e"}, {"label": "subtasks", "start_step": 886, "end_step": 1580, "id": "subtask-006", "text": "Fasten all four sides of the packaging lid onto the box. | Skill: buckle", "task_skill": "buckle", "atomic_action": []}, {"label": "goal", "start_step": 886, "end_step": 1580, "id": "bb6bdad7-5abd-4814-b098-d918158a627e"}, {"label": "subtasks", "start_step": 1581, "end_step": 1700, "id": "subtask-007", "text": "Pick up the closed food packaging box with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 1581, "end_step": 1700, "id": "e0458653-dd07-4a20-8c87-8b4aa3fd2fce"}, {"label": "subtasks", "start_step": 1701, "end_step": 1980, "id": "subtask-008", "text": "Place the closed food packaging box into the packaging bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1701, "end_step": 1980, "id": "dcb5b371-a774-4c95-a455-a17ee9142688"}, {"label": "home", "start_step": 2002, "end_step": 2030, "id": "hSIfDpV6jS5wbz0jjrn_0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Pick up the fruit tray containing the tomatoes with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 161, "end_step": 380, "id": "subtask-002", "text": "Tip the fruit tray and pour the tomatoes into the food packaging box with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 465, "id": "subtask-003", "text": "Place the empty fruit tray on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 675, "id": "subtask-004", "text": "Pick up the packaging lid with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 885, "id": "subtask-005", "text": "Place the packaging lid onto the food packaging box with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1580, "id": "subtask-006", "text": "Fasten all four sides of the packaging lid onto the box. | Skill: buckle", "task_skill": "buckle", "atomic_action": []}, {"label": "subtasks", "start_step": 1581, "end_step": 1700, "id": "subtask-007", "text": "Pick up the closed food packaging box with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1701, "end_step": 1980, "id": "subtask-008", "text": "Place the closed food packaging box into the packaging bag with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 28}
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes.jsonl b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f8e7fa2ab1cf46db443a27720771745c62b2ee4
--- /dev/null
+++ b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,29 @@
+{"episode_index": 0, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 3204}
+{"episode_index": 1, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2549}
+{"episode_index": 2, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2446}
+{"episode_index": 3, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2775}
+{"episode_index": 4, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2181}
+{"episode_index": 5, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2619}
+{"episode_index": 6, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2177}
+{"episode_index": 7, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2546}
+{"episode_index": 8, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2289}
+{"episode_index": 9, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2671}
+{"episode_index": 10, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2219}
+{"episode_index": 11, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2624}
+{"episode_index": 12, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2615}
+{"episode_index": 13, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2626}
+{"episode_index": 14, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2386}
+{"episode_index": 15, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2074}
+{"episode_index": 16, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2542}
+{"episode_index": 17, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 1961}
+{"episode_index": 18, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2292}
+{"episode_index": 19, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2289}
+{"episode_index": 20, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2278}
+{"episode_index": 21, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2193}
+{"episode_index": 22, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2852}
+{"episode_index": 23, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2096}
+{"episode_index": 24, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2133}
+{"episode_index": 25, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2682}
+{"episode_index": 26, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2133}
+{"episode_index": 27, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2010}
+{"episode_index": 28, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2031}
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cdbc7187e0d208ae15ee4cb2823e6484a7ab17b7
--- /dev/null
+++ b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,29 @@
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[[[0.563983678817749]], [[0.5609073042869568]], [[0.5620245337486267]]], "std": [[[0.3007566034793854]], [[0.3026169538497925]], [[0.3029894530773163]]], "count": [2031]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196228027344]], [[0.7490196228027344]], [[0.7490196228027344]]], "mean": [[[0.003902026219293475]], [[0.003902026219293475]], [[0.003902026219293475]]], "std": [[[0.036744557321071625]], [[0.036744557321071625]], [[0.036744557321071625]]], "count": [2031]}, "observation.images.tactile_raw": {"min": [[[0.05882352963089943]], [[0.05882352963089943]], [[0.05882352963089943]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4877852499485016]], [[0.4877852499485016]], [[0.4877852499485016]]], "std": [[[0.21982645988464355]], [[0.21982645988464355]], [[0.21982645988464355]]], "count": [2031]}}}
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/info.json b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2821854f78fa08eccfeadd8ecb2101f39da4347
--- /dev/null
+++ b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 29,
+    "total_frames": 69493,
+    "total_tasks": 1,
+    "total_videos": 174,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:29"
+    },
+    "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.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/modality.json b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/subtasks.jsonl b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
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+{"subtask_index": 0, "subtask": "Pick up the fruit tray containing the tomatoes with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Tip the fruit tray and pour the tomatoes into the food packaging box with the right hand. | Skill: tip"}
+{"subtask_index": 2, "subtask": "Place the empty fruit tray on the table with the right hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the packaging lid with both hands. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Place the packaging lid onto the food packaging box with both hands. | Skill: place"}
+{"subtask_index": 5, "subtask": "Fasten all four sides of the packaging lid onto the box. | Skill: buckle"}
+{"subtask_index": 6, "subtask": "Pick up the closed food packaging box with the right hand. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Place the closed food packaging box into the packaging bag with the right hand. | Skill: place"}
+{"subtask_index": 8, "subtask": "Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."}
diff --git a/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/tasks.jsonl b/tomato_boxed_lunch_packaging/season_POC22048_2026_07_02_16_31_05_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."}
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+    "observation.images.tactile_deform": 69493,
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+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 29
+}
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