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diff --git a/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21c10f9756e1839aef314c7cd1092d29b37ad3c6
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,14 @@
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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",
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+                "left_hand_j18",
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+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
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+                "right_arm_j2",
+                "right_arm_j3",
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+                "right_arm_j5",
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+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
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+                "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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+                "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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+            "names": [
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+                "left_index_ty",
+                "left_index_tz",
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+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
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+                "left_middle_tz",
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+                "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",
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+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
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+                "right_index_fz",
+                "right_index_tx",
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+                "right_index_tz",
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+                "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": {
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+            "shape": [
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+                1200,
+                3
+            ],
+            "names": [
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+        "observation.images.tactile_raw": {
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "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": {
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+      "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",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "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/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e01ab53dad9377fe717616f3b3f3fe2b64463ec
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_11_19_50_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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+{"source_uid": "8cfdde5ed61f5375", "num_frames": 627, "episode_id": "POC22027_2026_06_21_19_17_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train/train_0.3.0@2026_06_21_19_17_03.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 444, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 444, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "a81d1d40e636753e", "num_frames": 517, "episode_id": "POC22027_2026_06_21_19_23_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train/train_0.3.0@2026_06_21_19_23_13.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 348, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 348, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "02ad707e6c1f2cb0", "num_frames": 952, "episode_id": "POC22027_2026_06_21_19_24_21_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train/train_0.3.0@2026_06_21_19_24_21.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 618, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 780, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 618, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 780, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "1135742fa05b09f4", "num_frames": 695, "episode_id": "POC22027_2026_06_21_19_33_39_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train/train_0.3.0@2026_06_21_19_33_39.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 516, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 516, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "8f4f8a879870fe23", "num_frames": 1027, "episode_id": "POC22027_2026_06_21_19_34_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train/train_0.3.0@2026_06_21_19_34_08.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 708, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 846, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 708, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 846, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..286802e3a176680852444fad12b7ecda6544852d
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,6 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 627}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 517}
+{"episode_index": 2, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 952}
+{"episode_index": 3, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 695}
+{"episode_index": 4, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1027}
+{"episode_index": 5, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 674}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f982a2aee57845b9dac62c03a8ab579b9b877c0
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,6 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb6d361d6e1522e65958b8a5d19bd7cdf5475fb
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "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
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_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/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d99c1b360e22ae6a85dcec9312ec1bd7259ac55e
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d5fe607522549477649f73b6ea8eef001e08e09
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..61469fd7c9b3ef4dc6d33340eccc6a26c78e2aff
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 6,
+  "frames": 4492,
+  "video_frames": {
+    "observation.images.head_left": 4492,
+    "observation.images.wrist_left": 4492,
+    "observation.images.wrist_right": 4492,
+    "observation.images.head_right": 4492,
+    "observation.images.tactile_deform": 4492,
+    "observation.images.tactile_raw": 4492
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 6
+}
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+{"source_uid": "8cfdde5ed61f5375", "num_frames": 627, "episode_id": "POC22027_2026_06_21_19_17_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_17_03_train/train_0.3.0@2026_06_21_19_17_03.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 444, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 444, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "a81d1d40e636753e", "num_frames": 517, "episode_id": "POC22027_2026_06_21_19_23_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_23_13_train/train_0.3.0@2026_06_21_19_23_13.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 348, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 348, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "02ad707e6c1f2cb0", "num_frames": 952, "episode_id": "POC22027_2026_06_21_19_24_21_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_24_21_train/train_0.3.0@2026_06_21_19_24_21.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 618, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 780, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 618, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 780, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "1135742fa05b09f4", "num_frames": 695, "episode_id": "POC22027_2026_06_21_19_33_39_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_33_39_train/train_0.3.0@2026_06_21_19_33_39.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 516, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 276, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 516, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "8f4f8a879870fe23", "num_frames": 1027, "episode_id": "POC22027_2026_06_21_19_34_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_34_08_train/train_0.3.0@2026_06_21_19_34_08.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 708, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 846, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 708, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 846, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "5c04d4387560bfae", "num_frames": 674, "episode_id": "POC22027_2026_06_21_19_35_41_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_35_41_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_35_41_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_21_19_16_16_train/POC22027_2026_06_21_19_35_41_train/train_0.3.0@2026_06_21_19_35_41.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 492, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 492, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4404e0cade357ccae9d44c1d0c70c4d6bf62134e
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,6 @@
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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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+            "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",
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+                "left_arm_tcp_pose_1",
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+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
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+                "right_index_tx",
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+                "right_little_tx",
+                "right_little_ty",
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+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "head_right": {
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+    "tactile_deform": {
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+    "tactile_raw": {
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+  },
+  "annotation": {
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d555337314437b5655fcdf6617ea82a5363538a
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_19_16_16_train/lerobot_v3.0/meta/stats.json
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diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..003bcd8253e408f802075683417329a6c98e03bb
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 524}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 493}
+{"episode_index": 2, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 492}
+{"episode_index": 3, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 574}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78ce22b38fefec2eb0ac90416102591ad99aea49
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,4 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f699124785d58b68b9f8a0edfbe4a8fc537b7965
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_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/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d99c1b360e22ae6a85dcec9312ec1bd7259ac55e
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d5fe607522549477649f73b6ea8eef001e08e09
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..16faec70b6cb64570d4ae39055dce1241032adbb
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 4,
+  "frames": 2083,
+  "video_frames": {
+    "observation.images.head_left": 2083,
+    "observation.images.wrist_left": 2083,
+    "observation.images.wrist_right": 2083,
+    "observation.images.head_right": 2083,
+    "observation.images.tactile_deform": 2083,
+    "observation.images.tactile_raw": 2083
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 4
+}
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+                "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"
+            ],
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+                "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": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
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+        "observation.tactile": {
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+            ],
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+                "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": [
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_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",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "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/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95459ad28635bd249cfeff32e3060a5c325188b
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_21_20_44_43_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55304aee5c29c7abc2f16ee4bbcab650ff083b4d
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,8 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b775baebead9dc9b159d8c228a9cdd39381b2fd9
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,8 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1251}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1354}
+{"episode_index": 2, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1197}
+{"episode_index": 3, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1263}
+{"episode_index": 4, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1122}
+{"episode_index": 5, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1150}
+{"episode_index": 6, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1200}
+{"episode_index": 7, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1060}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71a429e673f2cb6bf6983ef7be3b17e00fa2594d
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,8 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e5aa32a713af17c6333050fa22062cc43ffbd8
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_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/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d99c1b360e22ae6a85dcec9312ec1bd7259ac55e
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+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/tasks.jsonl
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+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 8,
+  "frames": 9597,
+  "video_frames": {
+    "observation.images.head_left": 9597,
+    "observation.images.wrist_left": 9597,
+    "observation.images.wrist_right": 9597,
+    "observation.images.head_right": 9597,
+    "observation.images.tactile_deform": 9597,
+    "observation.images.tactile_raw": 9597
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 8
+}
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55304aee5c29c7abc2f16ee4bbcab650ff083b4d
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,8 @@
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+                "left_arm_j1",
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+                "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",
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+                "right_hand_j9",
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+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
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+                "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",
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+                "left_arm_tcp_pose_1",
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+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
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+                "left_arm_tcp_pose_1",
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+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
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+                "left_little_fy",
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+                "left_little_tx",
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+                "right_thumb_tz",
+                "right_index_fx",
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+                "right_ring_fy",
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+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
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+        "observation.images.tactile_deform": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
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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": {
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+    }
+  },
+  "annotation": {
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+      "absolute": true,
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+      "dtype": "float32",
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+  },
+  "action": {
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce380d39389c1a2cbad5db3af0ea9c37bd4e91d
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_10_21_45_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,3 @@
+{"source_uid": "85e52461a6d89849", "num_frames": 1345, "episode_id": "POC22027_2026_06_22_13_46_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train/train_0.3.0@2026_06_22_13_46_13.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 750, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1164, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 750, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1164, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "269d795af4ad8acb", "num_frames": 1458, "episode_id": "POC22027_2026_06_22_14_18_48_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_18_48_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_18_48_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_18_48_train/train_0.3.0@2026_06_22_14_18_48.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 1278, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 1278, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "f7cabd1d38b33602", "num_frames": 1248, "episode_id": "POC22027_2026_06_22_14_29_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_29_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_29_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_14_29_34_train/train_0.3.0@2026_06_22_14_29_34.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 498, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 1074, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 498, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 1074, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17fbc6e94ed9d7c14db71ed53bc005ee467029f1
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,3 @@
+{"source_uid": "85e52461a6d89849", "num_frames": 1345, "episode_id": "POC22027_2026_06_22_13_46_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_13_46_13_train/POC22027_2026_06_22_13_46_13_train/train_0.3.0@2026_06_22_13_46_13.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 750, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1164, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 750, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1164, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae2eac22e15003a131adba3383f91927efe50deb
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,3 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1345}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1458}
+{"episode_index": 2, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1248}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bfd007d8129d421b0e6c05e01232032f07bcd8f3
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,3 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b89a266ea76dabe9c5ad3a59a59dbe4ddbe3a7
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_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/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d99c1b360e22ae6a85dcec9312ec1bd7259ac55e
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e182372107faa52066121fd1cc091e2b13b31e8
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 3,
+  "frames": 4051,
+  "video_frames": {
+    "observation.images.head_left": 4051,
+    "observation.images.wrist_left": 4051,
+    "observation.images.wrist_right": 4051,
+    "observation.images.head_right": 4051,
+    "observation.images.tactile_deform": 4051,
+    "observation.images.tactile_raw": 4051
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 3
+}
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+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+      "absolute": true,
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+}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffd80ce6567bbd1798640aa600a5d1c119f0ac82
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_13_46_13_train/lerobot_v3.0/meta/stats.json
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+{"source_uid": "7917b6f923a94614", "num_frames": 1359, "episode_id": "POC22027_2026_06_22_16_17_07_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train/train_0.3.0@2026_06_22_16_17_07.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 555, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 1185, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 555, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 1185, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02c9e6ff515398ac43566ae56c91f12ec5859a33
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,4 @@
+{"source_uid": "6268693407f6bd0e", "num_frames": 1035, "episode_id": "POC22027_2026_06_22_15_07_21_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_15_07_21_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_15_07_21_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_15_07_21_train/train_0.3.0@2026_06_22_15_07_21.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 461, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 866, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 461, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 866, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "3c1ec47187419068", "num_frames": 1123, "episode_id": "POC22027_2026_06_22_16_04_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_04_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_04_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_04_25_train/train_0.3.0@2026_06_22_16_04_25.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 490, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 955, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 490, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 955, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "7e94a8180492bacc", "num_frames": 1101, "episode_id": "POC22027_2026_06_22_16_09_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_09_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_09_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_09_38_train/train_0.3.0@2026_06_22_16_09_38.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 475, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 935, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 475, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 935, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "7917b6f923a94614", "num_frames": 1359, "episode_id": "POC22027_2026_06_22_16_17_07_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Flip_Book/season_POC22027_2026_06_22_15_06_33_train/POC22027_2026_06_22_16_17_07_train/train_0.3.0@2026_06_22_16_17_07.hdf5", "tags": {"task_name": "Flip_Book", "task_instruction": "Turn the first page with the left hand. Then turn the second page with the left hand.", "scene_description": "A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page.", "success_criteria": "Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 555, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 1185, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 555, "id": "subtask-001", "text": "Turn the first page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 1185, "id": "subtask-002", "text": "Turn the second page of the book with the left hand. | Skill: flip", "task_skill": "flip", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0600f02f5704848705b68aa51ba25a25c7848e05
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1035}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1123}
+{"episode_index": 2, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1101}
+{"episode_index": 3, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1359}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b6962d59671357a770d716b59bd3fba267e6823
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..42dbd44c2926ab0ac112a4e9cb3d544fd5c66304
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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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"
+            ]
+        },
+        "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/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_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/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d99c1b360e22ae6a85dcec9312ec1bd7259ac55e
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d5fe607522549477649f73b6ea8eef001e08e09
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f16660dea67d8d1773bb0505fe6ef8e920f9cb
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 4,
+  "frames": 4618,
+  "video_frames": {
+    "observation.images.head_left": 4618,
+    "observation.images.wrist_left": 4618,
+    "observation.images.wrist_right": 4618,
+    "observation.images.head_right": 4618,
+    "observation.images.tactile_deform": 4618,
+    "observation.images.tactile_raw": 4618
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 4
+}
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/annotations.jsonl
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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"
+            ],
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+                "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": {
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+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
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+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+                "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": {
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+                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": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+                1600,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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": {
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_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": {
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+      "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",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "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/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac0ec7d255bea38045724d283a885d8bc0b3ea9
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_15_06_33_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e76bc50fdca7e17090c86f0a1c002a58a548834
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,26 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b23888967928f022a24a8bef23a05416cedb65b
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,26 @@
+{"episode_index": 0, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1786}
+{"episode_index": 1, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1477}
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+{"episode_index": 24, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 2167}
+{"episode_index": 25, "tasks": ["Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."], "length": 1201}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes_stats.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acf90e6040944da3af33822f2a8ce2fddf994b1b
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,26 @@
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/info.json b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..866a861b017b581f4cebd493a95bbc79adc35500
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_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/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/subtasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
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+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,3 @@
+{"subtask_index": 0, "subtask": "Turn the first page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 1, "subtask": "Turn the second page of the book with the left hand. | Skill: flip"}
+{"subtask_index": 2, "subtask": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/tasks.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/tasks.jsonl
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+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Flip_Book | Instruction: Turn the first page with the left hand. Then turn the second page with the left hand. | Scene: A book is placed open on the table. The robot needs to use the left hand to turn one page and then turn the next page. | Success: Two pages are turned successfully in sequence, and the book remains open and stable on the table."}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/v40_validation.json b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 26,
+  "frames": 46737,
+  "video_frames": {
+    "observation.images.head_left": 46737,
+    "observation.images.wrist_left": 46737,
+    "observation.images.wrist_right": 46737,
+    "observation.images.head_right": 46737,
+    "observation.images.tactile_deform": 46737,
+    "observation.images.tactile_raw": 46737
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 26
+}
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diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/annotations.jsonl b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e76bc50fdca7e17090c86f0a1c002a58a548834
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,26 @@
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+    "fps": 30,
+    "splits": {
+        "train": "0:26"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.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/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/modality.json b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/stats.json b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..72dd41e1529be78d66985c4adab6144cf1b69a66
--- /dev/null
+++ b/turn_book_pages/season_POC22027_2026_06_22_19_21_17_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+                    0.0
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+                    0.0
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+        "max": [
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+            [
+                [
+                    1.0
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