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diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/annotations.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e547bc8ebfb2980b17adda837f220b8c765a2cfe
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,100 @@
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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"
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+        },
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+            "dtype": "float32",
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+                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"
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+        },
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+            "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
+        },
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+            "names": [
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+                "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
+            ],
+            "names": [
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+        "observation.images.tactile_raw": {
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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/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/modality.json b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "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": {
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+    }
+  },
+  "state": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
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+  },
+  "action": {
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+      "dtype": "float32",
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/stats.json b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cabc7dee377bfcd8aa70b595f82ff414ca7e49e
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_15_48_26_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/annotations.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8835e591672c48a4bbcad42ebe2007dfbe67308
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,99 @@
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diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da36f695e22dbd184de64b91404f422e3a8064cc
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,99 @@
+{"episode_index": 0, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 957}
+{"episode_index": 1, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 701}
+{"episode_index": 2, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 792}
+{"episode_index": 3, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 721}
+{"episode_index": 4, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 657}
+{"episode_index": 5, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 619}
+{"episode_index": 6, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 615}
+{"episode_index": 7, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 629}
+{"episode_index": 8, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 615}
+{"episode_index": 9, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 638}
+{"episode_index": 10, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 639}
+{"episode_index": 11, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 665}
+{"episode_index": 12, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 738}
+{"episode_index": 13, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 649}
+{"episode_index": 14, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 669}
+{"episode_index": 15, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 808}
+{"episode_index": 16, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 637}
+{"episode_index": 17, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 563}
+{"episode_index": 18, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 617}
+{"episode_index": 19, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 618}
+{"episode_index": 20, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 593}
+{"episode_index": 21, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 657}
+{"episode_index": 22, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 707}
+{"episode_index": 23, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 588}
+{"episode_index": 24, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 682}
+{"episode_index": 25, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 592}
+{"episode_index": 26, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 599}
+{"episode_index": 27, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 577}
+{"episode_index": 28, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 535}
+{"episode_index": 29, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 572}
+{"episode_index": 30, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 584}
+{"episode_index": 31, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 591}
+{"episode_index": 32, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 638}
+{"episode_index": 33, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 585}
+{"episode_index": 34, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 567}
+{"episode_index": 35, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 654}
+{"episode_index": 36, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 730}
+{"episode_index": 37, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 630}
+{"episode_index": 38, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 604}
+{"episode_index": 39, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 578}
+{"episode_index": 40, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 587}
+{"episode_index": 41, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 581}
+{"episode_index": 42, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 687}
+{"episode_index": 43, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 580}
+{"episode_index": 44, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 679}
+{"episode_index": 45, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 585}
+{"episode_index": 46, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 671}
+{"episode_index": 47, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 630}
+{"episode_index": 48, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 636}
+{"episode_index": 49, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 585}
+{"episode_index": 50, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 744}
+{"episode_index": 51, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 595}
+{"episode_index": 52, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 655}
+{"episode_index": 53, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 581}
+{"episode_index": 54, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 567}
+{"episode_index": 55, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 606}
+{"episode_index": 56, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 619}
+{"episode_index": 57, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 585}
+{"episode_index": 58, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 713}
+{"episode_index": 59, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 705}
+{"episode_index": 60, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 584}
+{"episode_index": 61, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 678}
+{"episode_index": 62, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 656}
+{"episode_index": 63, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 630}
+{"episode_index": 64, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 664}
+{"episode_index": 65, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 655}
+{"episode_index": 66, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 641}
+{"episode_index": 67, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 546}
+{"episode_index": 68, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 548}
+{"episode_index": 69, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 784}
+{"episode_index": 70, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 574}
+{"episode_index": 71, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 672}
+{"episode_index": 72, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 592}
+{"episode_index": 73, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 728}
+{"episode_index": 74, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 623}
+{"episode_index": 75, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 589}
+{"episode_index": 76, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 571}
+{"episode_index": 77, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 596}
+{"episode_index": 78, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 837}
+{"episode_index": 79, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 585}
+{"episode_index": 80, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 606}
+{"episode_index": 81, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 610}
+{"episode_index": 82, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 728}
+{"episode_index": 83, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 595}
+{"episode_index": 84, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 634}
+{"episode_index": 85, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 563}
+{"episode_index": 86, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 548}
+{"episode_index": 87, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 592}
+{"episode_index": 88, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 574}
+{"episode_index": 89, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 542}
+{"episode_index": 90, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 576}
+{"episode_index": 91, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 554}
+{"episode_index": 92, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 582}
+{"episode_index": 93, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 673}
+{"episode_index": 94, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 672}
+{"episode_index": 95, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 584}
+{"episode_index": 96, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 681}
+{"episode_index": 97, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 618}
+{"episode_index": 98, "tasks": ["Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."], "length": 646}
diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes_stats.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6965e86ca44f0afd67f02b20f40af3dcb7b75e4
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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"observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3459911644458771]], [[0.34566235542297363]], [[0.34993797540664673]]], "std": [[[0.19597424566745758]], [[0.19629569351673126]], [[0.20091234147548676]]], "count": [646]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.49803921580314636]], [[0.49803921580314636]], [[0.49803921580314636]]], "mean": [[[0.0024345298297703266]], [[0.0024345298297703266]], [[0.0024345298297703266]]], "std": [[[0.02782682701945305]], [[0.02782682701945305]], [[0.02782682701945305]]], "count": [646]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4737635850906372]], [[0.4737635850906372]], [[0.4737635850906372]]], "std": [[[0.22814759612083435]], [[0.22814759612083435]], [[0.22814759612083435]]], "count": [646]}}}
diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/info.json b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f164926a7369d32ee15ad643c339e2c9efda18ad
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 99,
+    "total_frames": 62732,
+    "total_tasks": 1,
+    "total_videos": 594,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/modality.json b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_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/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/subtasks.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
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+{"subtask_index": 0, "subtask": "Pick up the first gear from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the first gear onto the base with the right hand. | Skill: insert"}
+{"subtask_index": 2, "subtask": "Pick up the second gear from the table with the right hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the second gear onto the base with the right hand. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Pick up the third gear from the table with the right hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Insert the third gear onto the base with the right hand. | Skill: insert"}
+{"subtask_index": 6, "subtask": "Task: Gear Assembly on Base | Instruction: Pick up the first gear with the right hand and insert it onto the base. Then pick up the second gear with the right hand and insert it onto the base. Finally, pick up the third gear with the right hand and insert it onto the base. | Scene: A base and three gears are placed on the table. The robot needs to pick up the gears one by one with the right hand and insert them onto the base. | Success: All three gears are correctly inserted onto the base and remain stable."}
diff --git a/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/tasks.jsonl b/assemble_gears_on_base/season_POC22027_2026_05_01_18_45_32_train/lerobot_v2.1/meta/tasks.jsonl
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+{
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+  "episodes": 99,
+  "frames": 62732,
+  "video_frames": {
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+    "observation.images.wrist_left": 62732,
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+    "observation.images.tactile_deform": 62732,
+    "observation.images.tactile_raw": 62732
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 99
+}
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