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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..056096518647efadcff4d349c7bc09e6dd4d4add
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,8 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8cc86feb0a0dd02b9adedebf1affc57a252ef84
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,8 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1070}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1151}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1240}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1202}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1074}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1061}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1087}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1123}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00d53fd4da45c0e70f917ba7e03ca9e006cc859b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,8 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd02a5815e9e45d6beea85cfc47b4f58da895ef8
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "total_episodes": 8,
+    "total_frames": 9008,
+    "total_tasks": 1,
+    "total_videos": 48,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:8"
+    },
+    "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/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..416e2129b97e1d8f400d37130c18f9b8554a48e8
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 8,
+  "frames": 9008,
+  "video_frames": {
+    "observation.images.head_left": 9008,
+    "observation.images.wrist_left": 9008,
+    "observation.images.wrist_right": 9008,
+    "observation.images.head_right": 9008,
+    "observation.images.tactile_deform": 9008,
+    "observation.images.tactile_raw": 9008
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 8
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f0b36ea1bead4c8b83baa6a36d73c4e27d03116
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967fdcd5717f2d97755d45f12b6681acc4aa649a5abfcb18a028e3567a458ae6
+size 16864160
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..056096518647efadcff4d349c7bc09e6dd4d4add
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,8 @@
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+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "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"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
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+        },
+        "observation.images.wrist_right": {
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+                480,
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+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
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+            "shape": [
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+                3
+            ],
+            "names": [
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
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+            ],
+            "names": [
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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": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+            "shape": [
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+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+        },
+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "index": {
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+        },
+        "task_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_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": {
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
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+    }
+  },
+  "state": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a53878e2c5a8f490240a3f7f5964738cf335b4
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_20_47_06_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..854c5f87fc632aec9dce55fef74c2419d57adec7
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+        "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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d734749d1ca89f46a6f49056029366bd1c7917
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 2,
+  "frames": 2542,
+  "video_frames": {
+    "observation.images.head_left": 2542,
+    "observation.images.wrist_left": 2542,
+    "observation.images.wrist_right": 2542,
+    "observation.images.head_right": 2542,
+    "observation.images.tactile_deform": 2542,
+    "observation.images.tactile_raw": 2542
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 2
+}
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+                "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"
+            ]
+        },
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+            "dtype": "float32",
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+            ],
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+                "left_arm_j1",
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+                "left_arm_j3",
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+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "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",
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+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
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+        },
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+            "dtype": "float32",
+            "shape": [
+                12
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+            "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",
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+                "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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+            "names": null
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+        "observation.images.head_left": {
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+            ],
+            "names": [
+                "height",
+                "width",
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+                "left_middle_tx",
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+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
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+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
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+                "right_thumb_tz",
+                "right_index_fx",
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+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
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+                "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"
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+        "observation.images.tactile_deform": {
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+                1200,
+                3
+            ],
+            "names": [
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+                "video.codec": "h264",
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+                "video.channels": 3,
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+        },
+        "observation.images.tactile_raw": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
+    "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": {
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+    }
+  },
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f5f111836409f7a72f809156e79f2f7a007500
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_25_52_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c077ba1fb6397c7431ea72cd3c6024ecb6ff255d
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,16 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a509def7fee4dfecfd624c4262e35d9f6e7d83e5
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,16 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1188}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1128}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1184}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1260}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1043}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1116}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1123}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1084}
+{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1145}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1176}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1503}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1131}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1356}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1105}
+{"episode_index": 14, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1088}
+{"episode_index": 15, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1211}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a99e9533822746960c6fadcc8bd1bec8a60e5a68
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,16 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe072cf53f4bf0e7954df8438e4430f758081b1
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c5dfcb470a6fe2a5f1946835eb2d5d0bcba59db
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 16,
+  "frames": 18841,
+  "video_frames": {
+    "observation.images.head_left": 18841,
+    "observation.images.wrist_left": 18841,
+    "observation.images.wrist_right": 18841,
+    "observation.images.head_right": 18841,
+    "observation.images.tactile_deform": 18841,
+    "observation.images.tactile_raw": 18841
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 16
+}
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c077ba1fb6397c7431ea72cd3c6024ecb6ff255d
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,16 @@
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+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.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": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
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+                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": {
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+                "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",
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_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": {
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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"
+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..961aee807256fc81781d52fb94d120538799be67
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_31_01_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "goal", "start_step": 173, "end_step": 298, "id": "921fe456-3f9e-4df3-ad88-dcf24b367146"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "goal", "start_step": 299, "end_step": 512, "id": "cfcbeae6-8f3d-4c6e-aaa0-fa9063e6f0d1"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}, {"label": "home", "start_step": 980, "end_step": 1127, "id": "1HnYqLuFKfzUynkFMS5yR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the black plastic bag placed on the left table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}], "episode_index": 18}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22e139e754769baa259ba25fcb51136331305480
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,19 @@
+{"source_uid": "a5b83ae8590debab", "num_frames": 1147, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 374, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 696, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 965, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 374, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 696, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 965, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_06_15_57_58_train/POC22027_2026_06_06_16_00_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "9b57c15e8058f227", "num_frames": 1184, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 122, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 123, "end_step": 346, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 347, "end_step": 666, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 1008, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 122, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 123, "end_step": 346, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 347, "end_step": 666, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 1008, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_06_15_57_58_train/POC22027_2026_06_06_16_01_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "goal", "start_step": 173, "end_step": 298, "id": "921fe456-3f9e-4df3-ad88-dcf24b367146"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "goal", "start_step": 299, "end_step": 512, "id": "cfcbeae6-8f3d-4c6e-aaa0-fa9063e6f0d1"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}, {"label": "home", "start_step": 980, "end_step": 1127, "id": "1HnYqLuFKfzUynkFMS5yR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the black plastic bag placed on the left table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}], "episode_index": 18}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3431432442a9149bed4572b38d4b958d81c4189a
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,19 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1147}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1184}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1141}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1351}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1188}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1096}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1166}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1082}
+{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1164}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1366}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1159}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1235}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1132}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1214}
+{"episode_index": 14, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1150}
+{"episode_index": 15, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1184}
+{"episode_index": 16, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1163}
+{"episode_index": 17, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1183}
+{"episode_index": 18, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1128}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e733173ddf7f2164f61ffc73efc524dec070fcc1
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,19 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0234777927398682, -0.7929145097732544, -0.2491081804037094, 0.5282730460166931, -1.4871379137039185, -0.7548493146896362, 0.02317485399544239, 0.006252869963645935, -0.2902989685535431, -0.09852087497711182, -0.1504756212234497, 0.0034584063105285168, 0.004892055876553059, -0.00027131737442687154, 0.0034917350858449936, 0.0008757602190598845, 0.003574227914214134, 0.0001052398220053874, 0.0034662066027522087, 0.0008775339229032397, 0.0054670716635882854, -0.00017613563977647573, 0.0028212566394358873, 0.0008779773488640785, 0.014884265139698982, -0.002032183576375246, -9.32193324842956e-06, 0.0034740068949759007, 0.0008602404268458486, 0.8539969325065613, -1.134252905845642, -0.1888178288936615, 0.42683517932891846, -1.3861219882965088, -0.762152373790741, -0.4902503192424774, 0.006891743745654821, -0.29908424615859985, -0.22631466388702393, -0.15925681591033936, 0.00639631412923336, -0.0008674311684444547, 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[[[0.16735082864761353]], [[0.19340357184410095]], [[0.17741404473781586]]], "count": [1128]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5307507514953613]], [[0.5302644968032837]], [[0.5308343172073364]]], "std": [[[0.2678779363632202]], [[0.267998605966568]], [[0.26850321888923645]]], "count": [1128]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.006887231487780809]], [[0.006887231487780809]], [[0.006887231487780809]]], "std": [[[0.05054387450218201]], [[0.05054387450218201]], [[0.05054387450218201]]], "count": [1128]}, "observation.images.tactile_raw": {"min": [[[0.0470588244497776]], [[0.0470588244497776]], [[0.0470588244497776]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47920963168144226]], [[0.47920963168144226]], [[0.47920963168144226]]], "std": [[[0.24344287812709808]], [[0.24344287812709808]], [[0.24344287812709808]]], "count": [1128]}}}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8661a5ea6dcd5ad1fcec9981dcb12e8a84ea110e
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 19,
+    "total_frames": 22433,
+    "total_tasks": 2,
+    "total_videos": 114,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:19"
+    },
+    "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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5e62231010bb74ed97bb834371f27c96df0763d
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+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,32 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"subtask_index": 5, "subtask": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the black plastic bag placed on the left table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}
+{"subtask_index": 6, "subtask": "Left hand: grasp: Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}
+{"subtask_index": 7, "subtask": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}
+{"subtask_index": 8, "subtask": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}
+{"subtask_index": 9, "subtask": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}
+{"subtask_index": 10, "subtask": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}
+{"subtask_index": 11, "subtask": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}
+{"subtask_index": 12, "subtask": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}
+{"subtask_index": 13, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}
+{"subtask_index": 14, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}
+{"subtask_index": 15, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}
+{"subtask_index": 16, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}
+{"subtask_index": 17, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}
+{"subtask_index": 18, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}
+{"subtask_index": 19, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}
+{"subtask_index": 20, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}
+{"subtask_index": 21, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}
+{"subtask_index": 22, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}
+{"subtask_index": 23, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}
+{"subtask_index": 24, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}
+{"subtask_index": 25, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}
+{"subtask_index": 26, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}
+{"subtask_index": 27, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}
+{"subtask_index": 28, "subtask": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}
+{"subtask_index": 30, "subtask": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}
+{"subtask_index": 31, "subtask": "Task: Fit_Trash_Bag_into_Trash_Bin"}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/tasks.jsonl
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index 0000000000000000000000000000000000000000..a55a3f04e8c7c367c9f91f733047137573a10c87
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+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"task_index": 1, "task": "Task: Fit_Trash_Bag_into_Trash_Bin"}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/v40_validation.json
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index 0000000000000000000000000000000000000000..6bb7eef5f0397c6c64f710462c611b061efd24c3
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+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 19,
+  "frames": 22433,
+  "video_frames": {
+    "observation.images.head_left": 22433,
+    "observation.images.wrist_left": 22433,
+    "observation.images.wrist_right": 22433,
+    "observation.images.head_right": 22433,
+    "observation.images.tactile_deform": 22433,
+    "observation.images.tactile_raw": 22433
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 19
+}
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Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "goal", "start_step": 173, "end_step": 298, "id": "921fe456-3f9e-4df3-ad88-dcf24b367146"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "goal", "start_step": 299, "end_step": 512, "id": "cfcbeae6-8f3d-4c6e-aaa0-fa9063e6f0d1"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}, {"label": "home", "start_step": 980, "end_step": 1127, "id": "1HnYqLuFKfzUynkFMS5yR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the black plastic bag placed on the left table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}], "episode_index": 18}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22e139e754769baa259ba25fcb51136331305480
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,19 @@
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Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "goal", "start_step": 173, "end_step": 298, "id": "921fe456-3f9e-4df3-ad88-dcf24b367146"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "goal", "start_step": 299, "end_step": 512, "id": "cfcbeae6-8f3d-4c6e-aaa0-fa9063e6f0d1"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}, {"label": "home", "start_step": 980, "end_step": 1127, "id": "1HnYqLuFKfzUynkFMS5yR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the black plastic bag placed on the left table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the black plastic bag, making slight contact adjustments to form a stable grip while the bag remains on the table. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while gripping the black plastic bag, lifting the bag off the table surface. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious movement or contact with any object."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: reach: Right hand moves left from the right side of the frame toward the lifted black plastic bag, fingers held slightly spread, without contacting the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: grasp: Right hand makes contact with the side edge of the black plastic bag, fingers closing around the bag material and making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top handle of the lifted black plastic bag, remaining stationary with no visible position or hand shape changes. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: pull: Right hand maintains a firm grip on the bag edge, pulling the edge rightward to stretch the mouth of the black plastic bag open."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand grips the handle of the black plastic bag, moving downward to carry the bag toward the black mesh trash bin positioned below. | Right hand: hold: Right hand holds the stretched edge of the black plastic bag steady, keeping the bag mouth open with no visible movement of the hand or gripped bag section."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens its fingers gradually to release its grip on the right edge of the black garbage bag, fully separating from the bag edge by the end of the segment."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves empty from the released position toward the opening of the black garbage bag, approaching the bag surface without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: press: Right hand makes contact with the garbage bag surface, applies downward pressure to press the bag side wall into the trash can interior as it moves deeper into the can."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves empty upward out of the garbage bag, retreating away from the trash can interior to a position above the can."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves downward toward the opposite outer top edge of the plastic bag with fingers open, making no contact with the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes fingers around the opposite outer top edge of the plastic bag to establish a stable grasp."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the grasped top edge of the plastic bag toward the right side, unfolding the bag opening over the trash can."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: release: Right hand opens fingers to release the grasped top edge of the plastic bag, separating from the bag surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand, with fingers open and empty, moves downward from the upper right area toward the top surface of the black plastic bag, approaching the target without forming a grip."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand closes its fingers around the contacted portion of the black plastic bag to establish an initial grip on the bag material."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: pull: Right hand pulls the gripped portion of the black plastic bag downward toward the lower right direction, moving the gripped edge to the lower outer part of the bag."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the gripped lower outer edge of the black plastic bag to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: reach: Right hand moves upward and leftward from its initial position at the right side of the garbage bag, approaching the open top of the bag with adjusting finger posture."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: other:insert_fingers_into_bag_opening: Right hand moves downward with slightly curled fingers, extending into the open top of the black garbage bag."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag over the trash can without observable movement or grip adjustment. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black garbage bag, separating from the bag surface. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the garbage bag without any observable movement. | Right hand: retreat: Right hand moves upward and rightward, withdrawing its fingers from the interior of the black garbage bag to a position above the right side of the bag opening."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: other:move_upward_extend_fingers: Left hand moves upward from its position above the left side of the trash bin, fully extending all fingers as it travels to a higher raised position. | Right hand: other:move_upward_extend_fingers: Right hand moves upward from its position above the right side of the trash bin, fully extending all fingers as it travels to a higher raised position."}], "episode_index": 18}
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/info.json
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+                "right_middle_fz",
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+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
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+}
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ddc0a8d4126967dce16d2d5fde49217211ecead
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_15_57_58_train/lerobot_v3.0/meta/stats.json
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of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: reach: Right hand moves leftward toward the black plastic bag without touching it."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: grasp: Right hand touches the edge of the black plastic bag, fingers closing to form a stable grasp."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: lift: Right hand lifts the grasped black plastic bag upward."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: transport: Right hand transports the black plastic bag to the position above the trash bin."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: place: Right hand places the black plastic bag into the upper part of the trash bin."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag above the trash bin. | Right hand: grasp: Right hand adjusts its grasp on the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward the other edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_into_trash_bin_inner_rim: Right hand tucks the grasped plastic bag edge into the inner side of the trash bin rim."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward another edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Right hand tucks the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: unfold: Right hand pulls the upper right edge of the black plastic bag downwards to unfold the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: other:flatten_inner_bag: Right hand presses and adjusts the inner part of the black plastic bag to flatten it inside the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand releases the black plastic bag by opening fingers and separating from the bag edge. | Right hand: release: Right hand releases the black plastic bag by opening fingers and separating from the bag edge."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: retreat: Left hand moves backward away from the black plastic bag towards the left side. | Right hand: retreat: Right hand moves backward away from the black plastic bag towards the right side."}, {"label": "home", "start_step": 1036, "end_step": 1183, "id": "o9IbsAaU2N82pJkqVWTV1"}, {"label": "subtasks", "start_step": 1065, "end_step": 1183, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side position without moving. | Right hand: idle: Right hand remains empty at the right side position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward to approach the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers and makes slight adjustments to form a stable grip on the black plastic bag. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: reach: Right hand moves leftward toward the black plastic bag without touching it."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: grasp: Right hand touches the edge of the black plastic bag, fingers closing to form a stable grasp."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: lift: Right hand lifts the grasped black plastic bag upward."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: transport: Right hand transports the black plastic bag to the position above the trash bin."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: place: Right hand places the black plastic bag into the upper part of the trash bin."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag above the trash bin. | Right hand: grasp: Right hand adjusts its grasp on the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward the other edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_into_trash_bin_inner_rim: Right hand tucks the grasped plastic bag edge into the inner side of the trash bin rim."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward another edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Right hand tucks the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: unfold: Right hand pulls the upper right edge of the black plastic bag downwards to unfold the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: other:flatten_inner_bag: Right hand presses and adjusts the inner part of the black plastic bag to flatten it inside the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand releases the black plastic bag by opening fingers and separating from the bag edge. | Right hand: release: Right hand releases the black plastic bag by opening fingers and separating from the bag edge."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: retreat: Left hand moves backward away from the black plastic bag towards the left side. | Right hand: retreat: Right hand moves backward away from the black plastic bag towards the right side."}, {"label": "subtasks", "start_step": 1065, "end_step": 1183, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side position without moving. | Right hand: idle: Right hand remains empty at the right side position without moving."}], "episode_index": 14}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1106362a68fe86b04fb26b69d004ffa247bd56fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,15 @@
+{"source_uid": "69e62ee05036f021", "num_frames": 1131, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 319, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 320, "end_step": 544, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 963, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 319, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 320, "end_step": 544, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 963, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_06_16_42_23_train/POC22027_2026_06_06_16_42_23_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "6af2d1d1c53b8493", "num_frames": 1098, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 291, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 509, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 510, "end_step": 923, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 291, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 509, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 510, "end_step": 923, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_06_16_42_23_train/POC22027_2026_06_06_16_43_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: reach: Right hand moves leftward toward the black plastic bag without touching it."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: grasp: Right hand touches the edge of the black plastic bag, fingers closing to form a stable grasp."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: lift: Right hand lifts the grasped black plastic bag upward."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: transport: Right hand transports the black plastic bag to the position above the trash bin."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: place: Right hand places the black plastic bag into the upper part of the trash bin."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag above the trash bin. | Right hand: grasp: Right hand adjusts its grasp on the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward the other edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_into_trash_bin_inner_rim: Right hand tucks the grasped plastic bag edge into the inner side of the trash bin rim."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward another edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Right hand tucks the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: unfold: Right hand pulls the upper right edge of the black plastic bag downwards to unfold the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: other:flatten_inner_bag: Right hand presses and adjusts the inner part of the black plastic bag to flatten it inside the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand releases the black plastic bag by opening fingers and separating from the bag edge. | Right hand: release: Right hand releases the black plastic bag by opening fingers and separating from the bag edge."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: retreat: Left hand moves backward away from the black plastic bag towards the left side. | Right hand: retreat: Right hand moves backward away from the black plastic bag towards the right side."}, {"label": "home", "start_step": 1036, "end_step": 1183, "id": "o9IbsAaU2N82pJkqVWTV1"}, {"label": "subtasks", "start_step": 1065, "end_step": 1183, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side position without moving. | Right hand: idle: Right hand remains empty at the right side position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward to approach the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers and makes slight adjustments to form a stable grip on the black plastic bag. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: reach: Right hand moves leftward toward the black plastic bag without touching it."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: grasp: Right hand touches the edge of the black plastic bag, fingers closing to form a stable grasp."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: lift: Right hand lifts the grasped black plastic bag upward."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: transport: Right hand transports the black plastic bag to the position above the trash bin."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: place: Right hand places the black plastic bag into the upper part of the trash bin."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag above the trash bin. | Right hand: grasp: Right hand adjusts its grasp on the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward the other edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_into_trash_bin_inner_rim: Right hand tucks the grasped plastic bag edge into the inner side of the trash bin rim."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward another edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Right hand tucks the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the upper right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: unfold: Right hand pulls the upper right edge of the black plastic bag downwards to unfold the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: other:flatten_inner_bag: Right hand presses and adjusts the inner part of the black plastic bag to flatten it inside the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand releases the black plastic bag by opening fingers and separating from the bag edge. | Right hand: release: Right hand releases the black plastic bag by opening fingers and separating from the bag edge."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: retreat: Left hand moves backward away from the black plastic bag towards the left side. | Right hand: retreat: Right hand moves backward away from the black plastic bag towards the right side."}, {"label": "subtasks", "start_step": 1065, "end_step": 1183, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side position without moving. | Right hand: idle: Right hand remains empty at the right side position without moving."}], "episode_index": 14}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1288bc80946ff868240b1e1c1af05958ce09b1a2
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,15 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1131}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1098}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1180}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1119}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1122}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1159}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1133}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1059}
+{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1278}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1129}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1250}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1099}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1285}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1041}
+{"episode_index": 14, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1184}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27edf16d2dbcb43b33d013fb7be71021606cb2da
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,15 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c073fe088cf4ac51c2dea0dd49f4bd4a20134db
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
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+                "left_hand_j17",
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+                "right_hand_j9",
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+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_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/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11f4a3b3292cf046be4379489c51f1920aa6ad09
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,29 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"subtask_index": 5, "subtask": "Left hand: reach: Left hand moves downward to approach the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 6, "subtask": "Left hand: grasp: Left hand closes fingers and makes slight adjustments to form a stable grip on the black plastic bag. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 7, "subtask": "Left hand: lift: Left hand lifts the grasped black plastic bag upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 8, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: reach: Right hand moves leftward toward the black plastic bag without touching it."}
+{"subtask_index": 9, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: grasp: Right hand touches the edge of the black plastic bag, fingers closing to form a stable grasp."}
+{"subtask_index": 10, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward continuously. | Right hand: lift: Right hand lifts the grasped black plastic bag upward."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: transport: Right hand transports the black plastic bag to the position above the trash bin."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains idle outside the visible operation area without moving. | Right hand: place: Right hand places the black plastic bag into the upper part of the trash bin."}
+{"subtask_index": 13, "subtask": "Left hand: grasp: Left hand grasps the edge of the black plastic bag above the trash bin. | Right hand: grasp: Right hand adjusts its grasp on the black plastic bag above the trash bin."}
+{"subtask_index": 14, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: release: Right hand releases the edge of the black plastic bag."}
+{"subtask_index": 15, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward the other edge of the black plastic bag above the trash bin."}
+{"subtask_index": 16, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag above the trash bin."}
+{"subtask_index": 17, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_into_trash_bin_inner_rim: Right hand tucks the grasped plastic bag edge into the inner side of the trash bin rim."}
+{"subtask_index": 18, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: reach: Right hand moves toward another edge of the black plastic bag above the trash bin."}
+{"subtask_index": 19, "subtask": "Left hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Left hand holds the edge of the black plastic bag and tucks it over the rim of the trash bin. | Right hand: other:tuck_plastic_bag_edge_over_trash_bin_rim: Right hand tucks the grasped plastic bag edge over the outer rim of the trash bin."}
+{"subtask_index": 20, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag."}
+{"subtask_index": 21, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the upper right edge of the black plastic bag."}
+{"subtask_index": 22, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the upper right edge of the black plastic bag."}
+{"subtask_index": 23, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: unfold: Right hand pulls the upper right edge of the black plastic bag downwards to unfold the bag edge."}
+{"subtask_index": 24, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}
+{"subtask_index": 25, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving. | Right hand: other:flatten_inner_bag: Right hand presses and adjusts the inner part of the black plastic bag to flatten it inside the trash bin."}
+{"subtask_index": 26, "subtask": "Left hand: release: Left hand releases the black plastic bag by opening fingers and separating from the bag edge. | Right hand: release: Right hand releases the black plastic bag by opening fingers and separating from the bag edge."}
+{"subtask_index": 27, "subtask": "Left hand: retreat: Left hand moves backward away from the black plastic bag towards the left side. | Right hand: retreat: Right hand moves backward away from the black plastic bag towards the right side."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side position without moving. | Right hand: idle: Right hand remains empty at the right side position without moving."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a55a3f04e8c7c367c9f91f733047137573a10c87
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"task_index": 1, "task": "Task: Fit_Trash_Bag_into_Trash_Bin"}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..359a3b2ea8849472ee21a57082eb7873d525c107
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_06_16_42_23_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 15,
+  "frames": 17267,
+  "video_frames": {
+    "observation.images.head_left": 17267,
+    "observation.images.wrist_left": 17267,
+    "observation.images.wrist_right": 17267,
+    "observation.images.head_right": 17267,
+    "observation.images.tactile_deform": 17267,
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+  },
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