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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/annotations.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0a1c14b0952f6b33fe68677b14a11319eb38081
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,164 @@
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+                "right_hand_j6",
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+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
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+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
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+                "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",
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+}
\ No newline at end of file
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/modality.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/stats.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef8ea2cebe06022aaac9adca8a6438f8d793e7e
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_10_20_53_train/lerobot_v3.0/meta/stats.json
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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/annotations.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87950749c3eb110ed176de9a97d72bef28aaa39d
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,156 @@
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+{"source_uid": "5df1e7eacfa764a9", "num_frames": 522, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box.", "tags": {"task_name": "Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box.", "task_instruction": "Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box.", "scene_description": "A table with a ball, a cup and a box placed at random positions.", "success_criteria": "The ball is placed in the cup and the cup is placed in the box.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 212, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 249, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 365, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 413, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 212, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 249, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 365, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 413, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/pick_ball_place_cup_and_pick_cup_place_box/season_POC22018_2026_05_07_14_19_37_train/POC22018_2026_05_07_15_33_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 167, "v40_language_source": "previous_published_lerobot", "episode_index": 154}
+{"source_uid": "0e7d5dcd9b878fb3", "num_frames": 476, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box.", "tags": {"task_name": "Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box.", "task_instruction": "Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box.", "scene_description": "A table with a ball, a cup and a box placed at random positions.", "success_criteria": "The ball is placed in the cup and the cup is placed in the box.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 197, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 224, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 317, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 318, "end_step": 364, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 365, "end_step": 399, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the ball. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 197, "id": "subtask-002", "text": "Move the ball above the cup. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 224, "id": "subtask-003", "text": "Place the ball into the cup. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 317, "id": "subtask-004", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 318, "end_step": 364, "id": "subtask-005", "text": "Move the cup above the box. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 365, "end_step": 399, "id": "subtask-006", "text": "Place the cup into the box. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/pick_ball_place_cup_and_pick_cup_place_box/season_POC22018_2026_05_07_14_19_37_train/POC22018_2026_05_07_15_33_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 168, "v40_language_source": "previous_published_lerobot", "episode_index": 155}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..368dc881da3e53d444229d82a595db40c3b1285b
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,156 @@
+{"episode_index": 0, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 613}
+{"episode_index": 1, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 645}
+{"episode_index": 2, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 533}
+{"episode_index": 3, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 533}
+{"episode_index": 4, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 583}
+{"episode_index": 5, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 619}
+{"episode_index": 6, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 623}
+{"episode_index": 7, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 591}
+{"episode_index": 8, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 525}
+{"episode_index": 9, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 604}
+{"episode_index": 10, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 558}
+{"episode_index": 11, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 629}
+{"episode_index": 12, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 601}
+{"episode_index": 13, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 552}
+{"episode_index": 14, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 583}
+{"episode_index": 15, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 601}
+{"episode_index": 16, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 607}
+{"episode_index": 17, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 590}
+{"episode_index": 18, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 573}
+{"episode_index": 19, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 564}
+{"episode_index": 20, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 579}
+{"episode_index": 21, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 596}
+{"episode_index": 22, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 560}
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+{"episode_index": 151, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 410}
+{"episode_index": 152, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 476}
+{"episode_index": 153, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 487}
+{"episode_index": 154, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 522}
+{"episode_index": 155, "tasks": ["Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."], "length": 476}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10bc1a2fe717c67d657a884cc025d528eecc3708
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,156 @@
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diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/info.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f870b99e23d57ac9d25782a84e56d7e8c1b42b3
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 156,
+    "total_frames": 82660,
+    "total_tasks": 1,
+    "total_videos": 936,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:156"
+    },
+    "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/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/modality.json b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_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/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/subtasks.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55b6c2de788a8d1180e66f0d2a8ae49addd9f0ef
--- /dev/null
+++ b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the ball. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the ball above the cup. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the ball into the cup. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Move the cup above the box. | Skill: move"}
+{"subtask_index": 5, "subtask": "Place the cup into the box. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Pick and Place the Ball into the cup, then Pick and Place the Cup into the Box. | Instruction: Pick up the ball, move the ball above the cup, place the ball into the cup, pick up the cup, move the cup above the box, place the cup into the box. | Scene: A table with a ball, a cup and a box placed at random positions. | Success: The ball is placed in the cup and the cup is placed in the box."}
diff --git a/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/tasks.jsonl b/place_ball_in_cup_then_cup_in_box/season_POC22018_2026_05_07_14_19_37_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a5a43e0b4bf416f747d0f61bafcd5725b111505
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