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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/annotations.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6c60f33ee4065fe296a004e1d6a510be0b6ea69
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,45 @@
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+}
\ No newline at end of file
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/modality.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/modality.json
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+}
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/stats.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b5e6b739b3d100ec42ae852773e2e88e2d8ca0
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_10_59_06_train/lerobot_v3.0/meta/stats.json
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/annotations.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05791a874119fd74cf3aab4a045dfb0168d60cdb
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,44 @@
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00081e395a0e0a272550b298892a1453c6791ca9
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,44 @@
+{"episode_index": 0, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1523}
+{"episode_index": 1, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1295}
+{"episode_index": 2, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1206}
+{"episode_index": 3, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1443}
+{"episode_index": 4, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1307}
+{"episode_index": 5, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1845}
+{"episode_index": 6, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1455}
+{"episode_index": 7, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1057}
+{"episode_index": 8, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1394}
+{"episode_index": 9, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1478}
+{"episode_index": 10, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1389}
+{"episode_index": 11, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1493}
+{"episode_index": 12, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1341}
+{"episode_index": 13, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1276}
+{"episode_index": 14, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1512}
+{"episode_index": 15, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1056}
+{"episode_index": 16, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1031}
+{"episode_index": 17, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 904}
+{"episode_index": 18, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 936}
+{"episode_index": 19, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1072}
+{"episode_index": 20, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 982}
+{"episode_index": 21, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 933}
+{"episode_index": 22, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 726}
+{"episode_index": 23, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 853}
+{"episode_index": 24, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1002}
+{"episode_index": 25, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 2010}
+{"episode_index": 26, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 810}
+{"episode_index": 27, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1239}
+{"episode_index": 28, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 755}
+{"episode_index": 29, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 975}
+{"episode_index": 30, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1198}
+{"episode_index": 31, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 871}
+{"episode_index": 32, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 828}
+{"episode_index": 33, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 787}
+{"episode_index": 34, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1723}
+{"episode_index": 35, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1260}
+{"episode_index": 36, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 984}
+{"episode_index": 37, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1362}
+{"episode_index": 38, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 812}
+{"episode_index": 39, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1173}
+{"episode_index": 40, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 995}
+{"episode_index": 41, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 1105}
+{"episode_index": 42, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 808}
+{"episode_index": 43, "tasks": ["Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."], "length": 805}
diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes_stats.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3cc3e8d9945cb807240b458f12289658dd93c02b
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,44 @@
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/info.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..11821223cec806a8d137a93666dab7c7e4e9a9ac
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 44,
+    "total_frames": 51009,
+    "total_tasks": 1,
+    "total_videos": 264,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:44"
+    },
+    "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/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/modality.json b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_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"
+    }
+  },
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diff --git a/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/subtasks.jsonl b/grind_medicine_with_mortar_and_pestle/season_POC22027_2026_05_25_15_53_15_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pick up the pestle from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Grind the medicine inside the mortar with the pestle using the right hand. | Skill: grind"}
+{"subtask_index": 2, "subtask": "Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."}
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+{"task_index": 0, "task": "Task: grind_drug | Instruction: Pick up the pestle from the table with the right hand. Grind the medicine inside the mortar with the pestle until the grinding process is completed. | Scene: A mortar containing medicine and a pestle are placed on the table. The robot needs to pick up the pestle and grind the medicine inside the mortar. | Success: The medicine is ground inside the mortar, and the grinding process is completed while maintaining stable control of the pestle."}
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+{
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+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 44
+}
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