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+{"source_uid": "6c0b7dfe67840226", "num_frames": 4473, "episode_id": "POC22027_2026_06_20_16_13_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/train_0.3.0@2026_06_20_16_13_57.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes.jsonl b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b99c81d0faf4d34c0782cb908c85e9cb164dc12
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 4473}
+{"episode_index": 1, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 4368}
diff --git a/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes_stats.jsonl b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5cd61ad59b0b304125ae1722162eb960a9ae9a0
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
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diff --git a/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/info.json b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cbaf6f80bb9a97e6bb11a612ee3402891f7095b
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 2,
+    "total_frames": 8841,
+    "total_tasks": 1,
+    "total_videos": 12,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:2"
+    },
+    "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/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/modality.json b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_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,
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+      "dtype": "float32",
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+{"subtask_index": 0, "subtask": "Grip the iron head with the right hand. | Skill: grip"}
+{"subtask_index": 1, "subtask": "Hold and stabilize the garment with the other hand. | Skill: stabilize"}
+{"subtask_index": 2, "subtask": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press"}
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+  "language_loaded": 2
+}
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+                "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",
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+}
\ No newline at end of file
diff --git a/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/modality.json b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+  }
+}
diff --git a/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/stats.json b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a93cf3e8e5ba4c6b8b580ad0ba7ab07a45c11eb6
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/stats.json
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diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/annotations.jsonl b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d21907ec57efd88594b1535709e1a88398bb391
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,7 @@
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diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes.jsonl b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb46dfe75bb605ca353cf1c1ee5f9e8574aa3a77
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,7 @@
+{"episode_index": 0, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 3185}
+{"episode_index": 1, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 3137}
+{"episode_index": 2, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 2734}
+{"episode_index": 3, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 2654}
+{"episode_index": 4, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 2892}
+{"episode_index": 5, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 2764}
+{"episode_index": 6, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 2873}
diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes_stats.jsonl b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec42688168d784e937ec87043678f3d92347dda8
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,7 @@
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[[0.3185049295425415]]], "count": [2873]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7882353067398071]], [[0.7882353067398071]], [[0.7882353067398071]]], "mean": [[[0.008703306317329407]], [[0.008703306317329407]], [[0.008703306317329407]]], "std": [[[0.0561034269630909]], [[0.0561034269630909]], [[0.0561034269630909]]], "count": [2873]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4629383087158203]], [[0.4629383087158203]], [[0.4629383087158203]]], "std": [[[0.2379475235939026]], [[0.2379475235939026]], [[0.2379475235939026]]], "count": [2873]}}}
diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/info.json b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..940b140feecabda188e2b90391fe7cda830c28ec
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 7,
+    "total_frames": 20239,
+    "total_tasks": 1,
+    "total_videos": 42,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:7"
+    },
+    "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/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/modality.json b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_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",
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+      "end": 65,
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diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/subtasks.jsonl b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Grip the iron head with the right hand. | Skill: grip"}
+{"subtask_index": 1, "subtask": "Hold and stabilize the garment with the other hand. | Skill: stabilize"}
+{"subtask_index": 2, "subtask": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press"}
+{"subtask_index": 3, "subtask": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."}
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+{"task_index": 0, "task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."}
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+{
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+  "video_frames": {
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+    "observation.images.tactile_raw": 20239
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 7
+}
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diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/annotations.jsonl b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d21907ec57efd88594b1535709e1a88398bb391
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,7 @@
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+                "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/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/modality.json b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/stats.json b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..170ae74f2ea886e04ab631aa17862649c3c71e85
--- /dev/null
+++ b/iron_garment/season_POC22027_2026_06_20_19_28_29_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "observation.images.head_right": {
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+                    0.0
+                ]
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diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/annotations.jsonl b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd3e2b2a1c6998446a783eb0e491013a54e9cb45
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,18 @@
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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 342, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 708, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 894, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1128, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1560, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 342, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 708, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 894, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1128, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1560, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_15_03_06_train/POC22054_2026_05_23_15_47_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes.jsonl b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec885d77593c5e5dc501d008f9a0ddca4d11275e
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,18 @@
+{"episode_index": 0, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2645}
+{"episode_index": 1, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2539}
+{"episode_index": 2, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1908}
+{"episode_index": 3, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2361}
+{"episode_index": 4, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2423}
+{"episode_index": 5, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1911}
+{"episode_index": 6, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1754}
+{"episode_index": 7, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2046}
+{"episode_index": 8, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1712}
+{"episode_index": 9, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1981}
+{"episode_index": 10, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1991}
+{"episode_index": 11, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1783}
+{"episode_index": 12, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2225}
+{"episode_index": 13, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1452}
+{"episode_index": 14, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1833}
+{"episode_index": 15, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1991}
+{"episode_index": 16, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2004}
+{"episode_index": 17, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1732}
diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aed86b777ca147b3ba5defda52ee9176a7d3381a
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,18 @@
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diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/info.json b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7afc4205e64a35165db68e531dab40cbaa5e4a3
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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",
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+                1
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+            "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/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/modality.json b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_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/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/subtasks.jsonl b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc30475bce0f314ba3e4c3a6496843daf6cba46f
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,9 @@
+{"subtask_index": 0, "subtask": "Pick up the first cup from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the first cup onto the base cup. | Skill: insert"}
+{"subtask_index": 2, "subtask": "Pick up the second cup from the table. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the second cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Pick up the third cup from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Insert the third cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 6, "subtask": "Pick up the fourth cup from the table. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Insert the fourth cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 8, "subtask": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."}
diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/tasks.jsonl b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd07bf150242b4ac04438d00879e54e8dfe8779a
--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."}
diff --git a/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/v40_validation.json b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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--- /dev/null
+++ b/nest_cups/season_POC22054_2026_05_23_15_03_06_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 18,
+  "frames": 36291,
+  "video_frames": {
+    "observation.images.head_left": 36291,
+    "observation.images.wrist_left": 36291,
+    "observation.images.wrist_right": 36291,
+    "observation.images.head_right": 36291,
+    "observation.images.tactile_deform": 36291,
+    "observation.images.tactile_raw": 36291
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 18
+}
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