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diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/annotations.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cae1df1b5b7865b753b4df60415e4957499b239d
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,49 @@
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diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6107940871494a95a1962a03125ec1af861ab2a
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,49 @@
+{"episode_index": 0, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1155}
+{"episode_index": 1, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1382}
+{"episode_index": 2, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 944}
+{"episode_index": 3, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1213}
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+{"episode_index": 11, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1041}
+{"episode_index": 12, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 881}
+{"episode_index": 13, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1183}
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+{"episode_index": 15, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1127}
+{"episode_index": 16, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 965}
+{"episode_index": 17, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1067}
+{"episode_index": 18, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 934}
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+{"episode_index": 22, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1021}
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+{"episode_index": 24, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1135}
+{"episode_index": 25, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1138}
+{"episode_index": 26, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1103}
+{"episode_index": 27, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1164}
+{"episode_index": 28, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 966}
+{"episode_index": 29, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1190}
+{"episode_index": 30, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1099}
+{"episode_index": 31, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1126}
+{"episode_index": 32, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 932}
+{"episode_index": 33, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1145}
+{"episode_index": 34, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1116}
+{"episode_index": 35, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 774}
+{"episode_index": 36, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1113}
+{"episode_index": 37, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1072}
+{"episode_index": 38, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1229}
+{"episode_index": 39, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1164}
+{"episode_index": 40, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1130}
+{"episode_index": 41, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1362}
+{"episode_index": 42, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1064}
+{"episode_index": 43, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1222}
+{"episode_index": 44, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1403}
+{"episode_index": 45, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 894}
+{"episode_index": 46, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1048}
+{"episode_index": 47, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1041}
+{"episode_index": 48, "tasks": ["Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."], "length": 1053}
diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes_stats.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3339cf19b908b3a4cfb6dc58a772715df3193e78
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,49 @@
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diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/info.json b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad2ccc62fa5f12307470a8931b4c434b88c456e
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/modality.json b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_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/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/subtasks.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16bb4d35bf7036a371e74335d363d7138308d8b1
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the bottle from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Grasp the cap with the right hand while the left hand holds the bottle. | Skill: hold"}
+{"subtask_index": 2, "subtask": "Rotate the cap counter-clockwise to unscrew it from the bottle. | Skill: unscrew"}
+{"subtask_index": 3, "subtask": "Place the bottle and the cap back on the table. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."}
diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/tasks.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed8d939736e5815b818f75db1871231d0ffab21
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Unscrew the Bottle Cap | Instruction: Pick up the bottle with the left hand, grasp the cap with the right hand, rotate the cap counter-clockwise to unscrew it, and place both the cap and the bottle back on the table. | Scene: A 500ml transparent PET plastic bottle with a screw cap is placed upright on a flat tabletop. The cap is initially tightened on the bottle. The workspace has a clean, flat surface with neutral background. | Success: The cap is completely separated from the bottle, and both the bottle and cap are placed stably on the table without falling over."}
diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/v40_validation.json b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..af18a8206a368353f160edad48b8408857ab5fa6
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 49,
+  "frames": 52629,
+  "video_frames": {
+    "observation.images.head_left": 52629,
+    "observation.images.wrist_left": 52629,
+    "observation.images.wrist_right": 52629,
+    "observation.images.head_right": 52629,
+    "observation.images.tactile_deform": 52629,
+    "observation.images.tactile_raw": 52629
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 49
+}
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diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/annotations.jsonl b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cae1df1b5b7865b753b4df60415e4957499b239d
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,49 @@
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+                "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": [
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+            ],
+            "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/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/modality.json b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/stats.json b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..508fe7f4eeb807bf60387121b12593e51235fddf
--- /dev/null
+++ b/unscrew_bottle_cap/season_POC22048_2026_06_29_13_44_42_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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