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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebe2af8d9e719b785b8033426507fb5011b20135
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,94 @@
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+}
\ No newline at end of file
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/stats.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ff35fe742b07a12e59e9f54ead1901093b802a
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_12_01_train/lerobot_v3.0/meta/stats.json
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+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/annotation_cache.jsonl
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b03b1b688f66689aec0ad3a2249ebf13ee43a3c6
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/annotations.jsonl
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eeeb31fc51a784bb5d11995064454a6f4b812d4b
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,32 @@
+{"episode_index": 0, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 410}
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+{"episode_index": 5, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 351}
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+{"episode_index": 9, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 340}
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+{"episode_index": 15, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 306}
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+{"episode_index": 20, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 310}
+{"episode_index": 21, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 328}
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+{"episode_index": 23, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 307}
+{"episode_index": 24, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 304}
+{"episode_index": 25, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 337}
+{"episode_index": 26, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 348}
+{"episode_index": 27, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 314}
+{"episode_index": 28, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 335}
+{"episode_index": 29, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 305}
+{"episode_index": 30, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 313}
+{"episode_index": 31, "tasks": ["Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."], "length": 314}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ddbce4a691580d09268cdcaeecb0909dde9f41b
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,32 @@
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"observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.005038942210376263]], [[0.005038942210376263]], [[0.005038942210376263]]], "std": [[[0.04831698536872864]], [[0.04831698536872864]], [[0.04831698536872864]]], "count": [314]}, "observation.images.tactile_raw": {"min": [[[0.05098039284348488]], [[0.05098039284348488]], [[0.05098039284348488]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43993112444877625]], [[0.43993112444877625]], [[0.43993112444877625]]], "std": [[[0.1471075415611267]], [[0.1471075415611267]], [[0.1471075415611267]]], "count": [314]}}}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/info.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffbcfb9465c167639ed21dca382cae1e13e1f6f8
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 32,
+    "total_frames": 10485,
+    "total_tasks": 1,
+    "total_videos": 192,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:32"
+    },
+    "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_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_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_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/subtasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34ba100af339cab4fef46965d20359983184b1c2
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the cup. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the cup above the plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the cup on the plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Pick the Cup on the Plate. | Instruction: Pick up the cup, move the cup above the plate, place the cup on the plate. | Scene: A table with a cup and a plate placed at random positions. | Success: The cup is placed on the plate."}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/tasks.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v2.1/meta/tasks.jsonl
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+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 32
+}
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diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/annotations.jsonl b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b03b1b688f66689aec0ad3a2249ebf13ee43a3c6
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,32 @@
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+                "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",
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+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
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+            "dtype": "float32",
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+                65
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+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
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+        },
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+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
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+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
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+            "names": null
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+            ],
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+                "left_index_tz",
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+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
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+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
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+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
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+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
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+                "right_index_fx",
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+                "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"
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/modality.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
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+    }
+  },
+  "state": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/stats.json b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..61be52a9f1873f17ac4ec783c26872a364b83db5
--- /dev/null
+++ b/place_cup_on_plate/season_POC22018_2026_05_05_14_53_54_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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"subtasks", "start_step": 688, "end_step": 812, "id": "subtask-010", "text": "Pick up the fourth object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 813, "end_step": 870, "id": "subtask-011", "text": "Move the fourth object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 942, "id": "subtask-012", "text": "Place the fourth object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 163, "id": "subtask-001", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 164, "end_step": 215, "id": "subtask-002", "text": "Move the first object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 216, 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"end_step": 235, "id": "subtask-003", "text": "Place the first object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 369, "id": "subtask-004", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 436, "id": "subtask-005", "text": "Move the second object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 470, "id": "subtask-006", "text": "Place the second object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 556, "id": "subtask-007", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 609, "id": "subtask-008", "text": "Move 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"/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_fruit/season_POC22007_2026_03_15_15_38_42_train/POC22007_2026_03_15_16_58_37_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 100, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotations.jsonl b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49c31beb5fd3f5ea4493451e4f9dc384280bf96b
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,32 @@
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"subtasks", "start_step": 763, "end_step": 879, "id": "subtask-010", "text": "Pick up the fourth object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 943, "id": "subtask-011", "text": "Move the fourth object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 944, "end_step": 1046, "id": "subtask-012", "text": "Place the fourth object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 188, "id": "subtask-001", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 189, "end_step": 250, "id": "subtask-002", "text": "Move the first object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 251, 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"end_step": 279, "id": "subtask-003", "text": "Place the first object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 434, "id": "subtask-004", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 488, "id": "subtask-005", "text": "Move the second object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 489, "end_step": 515, "id": "subtask-006", "text": "Place the second object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 632, "id": "subtask-007", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 689, "id": "subtask-008", "text": "Move the third object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "subtask-009", "text": "Place the third object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 728, "end_step": 872, "id": "subtask-010", "text": "Pick up the fourth object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 929, "id": "subtask-011", "text": "Move the fourth object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 930, "end_step": 1007, "id": "subtask-012", "text": "Place the fourth object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_fruit/season_POC22007_2026_03_15_15_38_42_train/POC22007_2026_03_15_16_56_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 97, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "8f6c5a196b46804f", "num_frames": 929, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary.", "tags": {"task_name": "Multi-Object Basket Placement", "task_instruction": "Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside.", "scene_description": "A basket is on the table, with four objects scattered around it.", "success_criteria": "All four objects are inside the basket and stationary.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 206, "id": "subtask-002", "text": "Move the first object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 207, "end_step": 235, "id": "subtask-003", "text": "Place the first object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 369, "id": "subtask-004", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 436, "id": "subtask-005", "text": "Move the second object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 470, "id": "subtask-006", "text": "Place the second object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 556, "id": "subtask-007", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 609, "id": "subtask-008", "text": "Move the third object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 643, "id": "subtask-009", "text": "Place the third object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 644, "end_step": 779, "id": "subtask-010", "text": "Pick up the fourth object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 846, "id": "subtask-011", "text": "Move the fourth object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 928, "id": "subtask-012", "text": "Place the fourth object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 206, "id": "subtask-002", "text": "Move the first object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 207, "end_step": 235, "id": "subtask-003", "text": "Place the first object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 369, "id": "subtask-004", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 436, "id": "subtask-005", "text": "Move the second object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 470, "id": "subtask-006", "text": "Place the second object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 556, "id": "subtask-007", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 609, "id": "subtask-008", "text": "Move the third object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 643, "id": "subtask-009", "text": "Place the third object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 644, "end_step": 779, "id": "subtask-010", "text": "Pick up the fourth object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 846, "id": "subtask-011", "text": "Move the fourth object to the basket. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 928, "id": "subtask-012", "text": "Place the fourth object into the basket. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_fruit/season_POC22007_2026_03_15_15_38_42_train/POC22007_2026_03_15_16_58_37_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 100, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes.jsonl b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1514fa6ca35ea66113548d19a1632c96721dbea5
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,32 @@
+{"episode_index": 0, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1375}
+{"episode_index": 1, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1375}
+{"episode_index": 2, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1107}
+{"episode_index": 3, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1054}
+{"episode_index": 4, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1104}
+{"episode_index": 5, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1158}
+{"episode_index": 6, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 992}
+{"episode_index": 7, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1318}
+{"episode_index": 8, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1039}
+{"episode_index": 9, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1133}
+{"episode_index": 10, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1018}
+{"episode_index": 11, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 976}
+{"episode_index": 12, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1159}
+{"episode_index": 13, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1055}
+{"episode_index": 14, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1072}
+{"episode_index": 15, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1029}
+{"episode_index": 16, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 976}
+{"episode_index": 17, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1020}
+{"episode_index": 18, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 927}
+{"episode_index": 19, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1047}
+{"episode_index": 20, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 914}
+{"episode_index": 21, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1135}
+{"episode_index": 22, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1039}
+{"episode_index": 23, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 943}
+{"episode_index": 24, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1017}
+{"episode_index": 25, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1019}
+{"episode_index": 26, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1011}
+{"episode_index": 27, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1341}
+{"episode_index": 28, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1003}
+{"episode_index": 29, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1251}
+{"episode_index": 30, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 1008}
+{"episode_index": 31, "tasks": ["Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."], "length": 929}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d13fdc79f9e006fc9e1eff25df6e20cce45d0513
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,32 @@
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diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/info.json b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ceb919820b61811cde4b37d623ae63d27e88be2
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "robot_type": "robot",
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+    "total_frames": 34544,
+    "total_tasks": 1,
+    "total_videos": 192,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:32"
+    },
+    "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_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/modality.json b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_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_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/subtasks.jsonl b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b831705a19d6fc8bae1e98411fe421555d7b9802
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the first object to the basket. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the first object into the basket. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Move the second object to the basket. | Skill: move"}
+{"subtask_index": 5, "subtask": "Place the second object into the basket. | Skill: place"}
+{"subtask_index": 6, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Move the third object to the basket. | Skill: move"}
+{"subtask_index": 8, "subtask": "Place the third object into the basket. | Skill: place"}
+{"subtask_index": 9, "subtask": "Pick up the fourth object from the table. | Skill: pick"}
+{"subtask_index": 10, "subtask": "Move the fourth object to the basket. | Skill: move"}
+{"subtask_index": 11, "subtask": "Place the fourth object into the basket. | Skill: place"}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/tasks.jsonl b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1610ea6d6d15b7e6485de39d88ab911cddc5f93a
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Multi-Object Basket Placement | Instruction: Pick up the first object, move it to the basket, and place it inside. Then pick up the second object, move it to the basket, and place it inside. Next, pick up the third object, move it to the basket, and place it inside. Finally, pick up the fourth object, move it to the basket, and place it inside. | Scene: A basket is on the table, with four objects scattered around it. | Success: All four objects are inside the basket and stationary."}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/v40_validation.json b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4b8da95d225a0330b84b7e09f465886246a33b
--- /dev/null
+++ b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 32,
+  "frames": 34544,
+  "video_frames": {
+    "observation.images.head_left": 34544,
+    "observation.images.wrist_left": 34544,
+    "observation.images.wrist_right": 34544,
+    "observation.images.head_right": 34544,
+    "observation.images.tactile_deform": 34544,
+    "observation.images.tactile_raw": 34544
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 32
+}
diff --git a/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/place_fruits_in_basket/season_POC22007_2026_03_15_15_38_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
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