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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..531c76ae2ead7d9d222eb2377e8f0d6fac02684d
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,42 @@
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+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.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/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_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": {
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+      "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/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/stats.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a3108298750d9fa3e7d27314cb1b4f1f3300a7
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_19_13_56_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb8037904268717f216dc87f14fc061113bfca83
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,15 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..124956e7c9a92e614def8caf5fb34b55be464d04
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,15 @@
+{"episode_index": 0, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 710}
+{"episode_index": 1, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 622}
+{"episode_index": 2, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 627}
+{"episode_index": 3, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 607}
+{"episode_index": 4, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 607}
+{"episode_index": 5, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 632}
+{"episode_index": 6, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 602}
+{"episode_index": 7, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 563}
+{"episode_index": 8, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 577}
+{"episode_index": 9, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 598}
+{"episode_index": 10, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 716}
+{"episode_index": 11, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 671}
+{"episode_index": 12, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 694}
+{"episode_index": 13, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 585}
+{"episode_index": 14, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 641}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes_stats.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72ab9eab8791b653416bfe90a3157c34e9dc9eb1
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,15 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/info.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f86c3e66c3f730dbdc36b464cff4088475d498
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_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/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/subtasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a83a31f86339e3baa4aeaa45f47de888e6740c6d
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the dustpan with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Empty the trash from the dustpan into the trash bin with the left hand. | Skill: pour"}
+{"subtask_index": 2, "subtask": "Place the dustpan back in its original position with the left hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/tasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9151fa59294d8d5a3c3887137da3ccc0c622ea21
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/v40_validation.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f904840f15a6b62b243d9e177f7f32f7bd818425
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 15,
+  "frames": 9452,
+  "video_frames": {
+    "observation.images.head_left": 9452,
+    "observation.images.wrist_left": 9452,
+    "observation.images.wrist_right": 9452,
+    "observation.images.head_right": 9452,
+    "observation.images.tactile_deform": 9452,
+    "observation.images.tactile_raw": 9452
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 15
+}
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb8037904268717f216dc87f14fc061113bfca83
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,15 @@
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+}
\ No newline at end of file
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/stats.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b966d1d24a7d4c44476e0b15b393a68e10d1ff31
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_30_20_06_09_train/lerobot_v3.0/meta/stats.json
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+{"source_uid": "4d31c4ac140b7f5e", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 146, "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": 147, "end_step": 271, "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": 272, "end_step": 841, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1401, "id": "subtask-004", "text": "Place the closed cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 146, "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": 147, "end_step": 271, "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": 272, "end_step": 841, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1401, "id": "subtask-004", "text": "Place the closed 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_10_33_41_train/POC22007_2026_03_30_10_41_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "36bf9b8b054ee994", "num_frames": 1103, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 270, "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": 271, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 985, "id": "subtask-004", "text": "Place the closed cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 270, "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": 271, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 985, "id": "subtask-004", "text": "Place the closed 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_10_33_41_train/POC22007_2026_03_30_10_43_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fad88efa4bf01bcb25087b4726e2d1e1f0c99393
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,3 @@
+{"source_uid": "f994743e1643d1a3", "num_frames": 1105, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 260, "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": 261, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 1010, "id": "subtask-004", "text": "Place the closed cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 260, "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": 261, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 1010, "id": "subtask-004", "text": "Place the closed 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_10_33_41_train/POC22007_2026_03_30_10_38_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "4d31c4ac140b7f5e", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 146, "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": 147, "end_step": 271, "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": 272, "end_step": 841, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1401, "id": "subtask-004", "text": "Place the closed cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 146, "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": 147, "end_step": 271, "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": 272, "end_step": 841, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 1401, "id": "subtask-004", "text": "Place the closed 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_10_33_41_train/POC22007_2026_03_30_10_41_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "36bf9b8b054ee994", "num_frames": 1103, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The cap is tightly secured on the cup, and the cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 270, "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": 271, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 985, "id": "subtask-004", "text": "Place the closed cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "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": 166, "end_step": 270, "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": 271, "end_step": 755, "id": "subtask-003", "text": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 985, "id": "subtask-004", "text": "Place the closed 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_10_33_41_train/POC22007_2026_03_30_10_43_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39f98595e753004a397f9f1b797146afd9587b18
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,3 @@
+{"episode_index": 0, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table."], "length": 1105}
+{"episode_index": 1, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table."], "length": 1510}
+{"episode_index": 2, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table."], "length": 1103}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57ac30d0a8f89641b06e9ddeceb50d4e5124522c
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,3 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f915f5e635abf298ebe88f9596ebdb0318b8393c
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+            "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_10_33_41_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_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_10_33_41_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_10_33_41_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77f546f5380735c905067e9fddf0191940856631
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"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": "Rotate the cap with the right hand to tighten it securely onto the cup while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 3, "subtask": "Place the closed cup on the table with the left hand. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Tighten Bottle Cap | Instruction: Pick up the cup with the left hand, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..210da9d936f8eb32f49029b4e42298bac247cd84
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_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, then pick up the cap with the right hand. Rotate the cap to tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a cap are placed on the table. The robot needs to hold the cup with the left hand, pick up the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The cap is tightly secured on the cup, and the cup is placed stably on the table."}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f062c8d26832772f2de8d371f4fbe97fde1944b3
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 3,
+  "frames": 3718,
+  "video_frames": {
+    "observation.images.head_left": 3718,
+    "observation.images.wrist_left": 3718,
+    "observation.images.wrist_right": 3718,
+    "observation.images.head_right": 3718,
+    "observation.images.tactile_deform": 3718,
+    "observation.images.tactile_raw": 3718
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 3
+}
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+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_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_10_33_41_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+    "tactile_raw": {
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+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7ef280e1d4521b08cc78d5c09cf40c13a0f3f5
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_10_33_41_train/lerobot_v3.0/meta/stats.json
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+{"source_uid": "a993e1a0a145c152", "num_frames": 1139, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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_11_10_50_train/POC22007_2026_03_30_11_19_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "134f8af9689290e1", "num_frames": 927, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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_11_10_50_train/POC22007_2026_03_30_11_25_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "fcb7cd0d2ead9af5", "num_frames": 1243, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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_11_10_50_train/POC22007_2026_03_30_11_28_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "b4cce050f0d6495a", "num_frames": 1147, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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_11_10_50_train/POC22007_2026_03_30_11_29_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e797eb1dbd27b3b7bf5418badb4e013ecf553f06
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,5 @@
+{"source_uid": "5d0a74509fd3cfaf", "num_frames": 1025, "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": 196, "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": 197, "end_step": 332, "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": 333, "end_step": 416, "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": 417, "end_step": 526, "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": 527, "end_step": 760, "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": 761, "end_step": 920, "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": 196, "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": 197, "end_step": 332, "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": 333, "end_step": 416, "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": 417, "end_step": 526, "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": 527, "end_step": 760, "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": 761, "end_step": 920, "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_11_10_50_train/POC22007_2026_03_30_11_16_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "a993e1a0a145c152", "num_frames": 1139, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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_11_10_50_train/POC22007_2026_03_30_11_19_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "134f8af9689290e1", "num_frames": 927, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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_11_10_50_train/POC22007_2026_03_30_11_25_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "fcb7cd0d2ead9af5", "num_frames": 1243, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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_11_10_50_train/POC22007_2026_03_30_11_28_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "b4cce050f0d6495a", "num_frames": 1147, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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_11_10_50_train/POC22007_2026_03_30_11_29_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e33c12405843b94fbe1f28751fa626fd1913ed42
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,5 @@
+{"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": 1025}
+{"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": 1139}
+{"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": 927}
+{"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": 1243}
+{"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": 1147}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c200983fa9dc4abff03a3dc07c13f78b2dda85c7
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,5 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fedfe55574a7ca9c12542698354bf7671fea56c
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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_11_10_50_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_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_11_10_50_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_11_10_50_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_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_11_10_50_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_11_10_50_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_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_11_10_50_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_11_10_50_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..61966d0da66702a2ea00247030dbc50fcf43e0db
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 5,
+  "frames": 5481,
+  "video_frames": {
+    "observation.images.head_left": 5481,
+    "observation.images.wrist_left": 5481,
+    "observation.images.wrist_right": 5481,
+    "observation.images.head_right": 5481,
+    "observation.images.tactile_deform": 5481,
+    "observation.images.tactile_raw": 5481
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 5
+}
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+{"source_uid": "a993e1a0a145c152", "num_frames": 1139, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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": 234, "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": 235, "end_step": 402, "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": 403, "end_step": 468, "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": 469, "end_step": 614, "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": 615, "end_step": 870, "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": 871, "end_step": 1036, "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_11_10_50_train/POC22007_2026_03_30_11_19_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "134f8af9689290e1", "num_frames": 927, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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": 228, "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": 229, "end_step": 352, "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": 353, "end_step": 414, "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": 415, "end_step": 482, "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": 483, "end_step": 712, "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": 713, "end_step": 820, "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_11_10_50_train/POC22007_2026_03_30_11_25_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "fcb7cd0d2ead9af5", "num_frames": 1243, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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": 232, "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": 233, "end_step": 434, "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": 435, "end_step": 518, "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": 519, "end_step": 638, "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": 639, "end_step": 1012, "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": 1013, "end_step": 1136, "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_11_10_50_train/POC22007_2026_03_30_11_28_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "b4cce050f0d6495a", "num_frames": 1147, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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": 188, "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": 189, "end_step": 266, "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": 267, "end_step": 326, "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": 327, "end_step": 458, "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": 459, "end_step": 898, "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": 899, "end_step": 1044, "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_11_10_50_train/POC22007_2026_03_30_11_29_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e797eb1dbd27b3b7bf5418badb4e013ecf553f06
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,5 @@
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+                "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/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_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_11_10_50_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": {
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+      "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_11_10_50_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5e8bd10e557c37c5e1950bf313338e22117e77
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_11_10_50_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a610fc7957933541cd76b6d8dfc8c6222e4aee09
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,12 @@
+{"source_uid": "ea7d2dab046eb5dc", "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": 168, "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": 169, "end_step": 302, "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": 303, "end_step": 354, "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": 355, "end_step": 414, "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": 415, "end_step": 686, "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": 687, "end_step": 844, "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": 168, "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": 169, "end_step": 302, "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": 303, "end_step": 354, "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": 355, "end_step": 414, "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": 415, "end_step": 686, "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": 687, "end_step": 844, "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_13_47_45_train/POC22007_2026_03_30_13_48_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "8b840f3145dbe9a0", "num_frames": 1163, "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": 164, "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": 165, "end_step": 276, "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": 277, "end_step": 340, "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": 341, "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": 758, "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": 759, "end_step": 1028, "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": 164, "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": 165, "end_step": 276, "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": 277, "end_step": 340, "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": 341, "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": 758, "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": 759, "end_step": 1028, "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_13_47_45_train/POC22007_2026_03_30_14_31_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0d62d5e62d3c4d4141e871b627ade2794a11000
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,12 @@
+{"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": 1400}
+{"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": 1275}
+{"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": 1188}
+{"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": 1344}
+{"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": 1162}
+{"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": 1384}
+{"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": 1021}
+{"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": 1087}
+{"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": 1084}
+{"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": 1048}
+{"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": 1163}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14b355c315512b5d7fa7ed6bf5553656f4f17a7f
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,12 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c8f04899da6c306a3a4ac3f220b4f02d2d0e4b4
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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_13_47_45_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_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_13_47_45_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_13_47_45_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_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_13_47_45_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_13_47_45_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_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_13_47_45_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_13_47_45_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61508e5b7a8bfdfcc8399c9c330a7fbdf0ab4e4
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 12,
+  "frames": 14217,
+  "video_frames": {
+    "observation.images.head_left": 14217,
+    "observation.images.wrist_left": 14217,
+    "observation.images.wrist_right": 14217,
+    "observation.images.head_right": 14217,
+    "observation.images.tactile_deform": 14217,
+    "observation.images.tactile_raw": 14217
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 12
+}
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+{"source_uid": "8b840f3145dbe9a0", "num_frames": 1163, "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": 164, "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": 165, "end_step": 276, "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": 277, "end_step": 340, "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": 341, "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": 758, "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": 759, "end_step": 1028, "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": 164, "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": 165, "end_step": 276, "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": 277, "end_step": 340, "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": 341, "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": 758, "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": 759, "end_step": 1028, "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_13_47_45_train/POC22007_2026_03_30_14_31_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a610fc7957933541cd76b6d8dfc8c6222e4aee09
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_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_13_47_45_train/lerobot_v3.0/meta/modality.json
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+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d8bd17ff8cddb63a85127695f803b7a137d59c
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_13_47_45_train/lerobot_v3.0/meta/stats.json
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+{"source_uid": "008d2d3539c40d17", "num_frames": 1344, "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": 228, "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": 229, "end_step": 484, "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": 485, "end_step": 574, "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": 575, "end_step": 704, "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": 705, "end_step": 1080, "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": 1081, "end_step": 1240, "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": 228, "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": 229, "end_step": 484, "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": 485, "end_step": 574, "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": 575, "end_step": 704, "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": 705, "end_step": 1080, "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": 1081, "end_step": 1240, "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_14_41_56_train/POC22007_2026_03_30_14_45_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..442698205502b7a4ee9f1322e26beb2819dd4d03
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,4 @@
+{"source_uid": "f7034ed5a641bc1e", "num_frames": 1324, "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": 299, "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": 300, "end_step": 545, "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": 546, "end_step": 647, "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": 648, "end_step": 871, "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": 872, "end_step": 1107, "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": 1108, "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": 299, "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": 300, "end_step": 545, "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": 546, "end_step": 647, "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": 648, "end_step": 871, "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": 872, "end_step": 1107, "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": 1108, "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": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Closethebottlecap/season_POC22007_2026_03_30_14_41_56_train/POC22007_2026_03_30_14_41_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "8e22ef45adb49e91", "num_frames": 1406, "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": 232, "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": 233, "end_step": 420, "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": 421, "end_step": 514, "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": 515, "end_step": 646, "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": 647, "end_step": 1112, "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": 1113, "end_step": 1302, "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": 232, "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": 233, "end_step": 420, "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": 421, "end_step": 514, "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": 515, "end_step": 646, "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": 647, "end_step": 1112, "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": 1113, "end_step": 1302, "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_14_41_56_train/POC22007_2026_03_30_14_44_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "008d2d3539c40d17", "num_frames": 1344, "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": 228, "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": 229, "end_step": 484, "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": 485, "end_step": 574, "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": 575, "end_step": 704, "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": 705, "end_step": 1080, "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": 1081, "end_step": 1240, "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": 228, "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": 229, "end_step": 484, "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": 485, "end_step": 574, "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": 575, "end_step": 704, "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": 705, "end_step": 1080, "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": 1081, "end_step": 1240, "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_14_41_56_train/POC22007_2026_03_30_14_45_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "f41bd7dadaba1df0", "num_frames": 1295, "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": 222, "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": 223, "end_step": 390, "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": 391, "end_step": 482, "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": 483, "end_step": 626, "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": 627, "end_step": 996, "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": 997, "end_step": 1198, "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": 222, "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": 223, "end_step": 390, "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": 391, "end_step": 482, "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": 483, "end_step": 626, "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": 627, "end_step": 996, "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": 997, "end_step": 1198, "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_14_41_56_train/POC22007_2026_03_30_15_00_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..644842f7d7607fbc4ea16dcf82403e378769b559
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,4 @@
+{"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": 1324}
+{"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": 1406}
+{"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": 1344}
+{"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": 1295}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..646d1909582835338e2f28778f7c627c04f4cb89
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,4 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..837264538df4aec8ce7cc80cc0ca6f526d4ccbb1
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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_14_41_56_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_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_14_41_56_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_14_41_56_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_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_14_41_56_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_14_41_56_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_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_14_41_56_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_14_41_56_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..c891eef76c913ec20b70e6e27ad8da08bb3513bc
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 4,
+  "frames": 5369,
+  "video_frames": {
+    "observation.images.head_left": 5369,
+    "observation.images.wrist_left": 5369,
+    "observation.images.wrist_right": 5369,
+    "observation.images.head_right": 5369,
+    "observation.images.tactile_deform": 5369,
+    "observation.images.tactile_raw": 5369
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 4
+}
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..442698205502b7a4ee9f1322e26beb2819dd4d03
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,4 @@
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+                "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": [
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+            "names": null
+        },
+        "observation.images.head_left": {
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
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+            "shape": [
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+                1200,
+                3
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+            "names": [
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+                "video.channels": 3,
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+            "names": null
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_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_14_41_56_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    },
+    "head_right": {
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
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+    }
+  },
+  "state": {
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+      "absolute": true,
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+    }
+  },
+  "action": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/stats.json b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..347d22f545b5df18061d7886b88c515fbb9ea0e6
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_14_41_56_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/annotations.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/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_v2.1/meta/annotations.jsonl
@@ -0,0 +1,39 @@
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+{"source_uid": "c0bdb86e2886a321", "num_frames": 1107, "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": 192, "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": 193, "end_step": 312, "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": 313, "end_step": 372, "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": 373, "end_step": 480, "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": 481, "end_step": 748, "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": 749, "end_step": 1002, "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": 192, "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": 193, "end_step": 312, "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": 313, "end_step": 372, "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": 373, "end_step": 480, "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": 481, "end_step": 748, "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": 749, "end_step": 1002, "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_16_19_00_train/POC22007_2026_03_30_17_34_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "a9be0f3d12268c23", "num_frames": 1218, "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": 170, "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": 171, "end_step": 266, "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": 267, "end_step": 320, "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": 321, "end_step": 410, "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": 411, "end_step": 718, "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": 719, "end_step": 1100, "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": 170, "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": 171, "end_step": 266, "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": 267, "end_step": 320, "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": 321, "end_step": 410, "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": 411, "end_step": 718, "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": 719, "end_step": 1100, "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_16_19_00_train/POC22007_2026_03_30_17_36_23_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "fb87eec3b6b9161f", "num_frames": 1206, "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": 188, "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": 189, "end_step": 322, "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": 323, "end_step": 384, "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": 385, "end_step": 486, "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": 487, "end_step": 734, "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": 735, "end_step": 1102, "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": 188, "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": 189, "end_step": 322, "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": 323, "end_step": 384, "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": 385, "end_step": 486, "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": 487, "end_step": 734, "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": 735, "end_step": 1102, "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_16_19_00_train/POC22007_2026_03_30_17_37_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df8ae65a8372713e9e25f5ef74c0e6664485ba7e
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,39 @@
+{"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": 1194}
+{"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": 1185}
+{"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": 1229}
+{"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": 1150}
+{"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": 1174}
+{"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": 995}
+{"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": 1251}
+{"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": 1111}
+{"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": 979}
+{"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": 1528}
+{"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": 1127}
+{"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": 1142}
+{"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": 1067}
+{"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": 1303}
+{"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": 1073}
+{"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": 1303}
+{"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": 1202}
+{"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": 1501}
+{"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": 1142}
+{"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": 1259}
+{"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": 1338}
+{"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": 1347}
+{"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": 1107}
+{"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": 1246}
+{"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": 1310}
+{"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": 1170}
+{"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": 1087}
+{"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": 1053}
+{"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": 1280}
+{"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": 1228}
+{"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": 1186}
+{"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": 1066}
+{"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": 1020}
+{"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": 1284}
+{"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": 1132}
+{"episode_index": 35, "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": 1042}
+{"episode_index": 36, "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": 1107}
+{"episode_index": 37, "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": 1218}
+{"episode_index": 38, "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": 1206}
diff --git a/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes_stats.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73cbc256b6f800a848e1e1ac4253aa01168297f2
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/episodes_stats.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_v2.1/meta/info.json b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0582a57f5058da929627fbea4e236baf02a02e
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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_16_19_00_train/lerobot_v2.1/meta/modality.json b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_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_16_19_00_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_16_19_00_train/lerobot_v2.1/meta/subtasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_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_16_19_00_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_16_19_00_train/lerobot_v2.1/meta/tasks.jsonl b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_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_16_19_00_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_16_19_00_train/lerobot_v2.1/meta/v40_validation.json b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..207be863d2b20b2d8694d837a5d0b44ea039a325
--- /dev/null
+++ b/tighten_bottle_cap/season_POC22007_2026_03_30_16_19_00_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 39,
+  "frames": 46342,
+  "video_frames": {
+    "observation.images.head_left": 46342,
+    "observation.images.wrist_left": 46342,
+    "observation.images.wrist_right": 46342,
+    "observation.images.head_right": 46342,
+    "observation.images.tactile_deform": 46342,
+    "observation.images.tactile_raw": 46342
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 39
+}
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