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diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/annotations.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ec68bfc7b8c3dd39612713f6f10ae8b2d6efceb
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/annotations.jsonl
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..176351356ed0f5af66db46498e7c5d9cb5e17a84
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,110 @@
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+{"episode_index": 1, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 350}
+{"episode_index": 2, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 394}
+{"episode_index": 3, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 401}
+{"episode_index": 4, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 425}
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+{"episode_index": 67, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 390}
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+{"episode_index": 70, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 367}
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+{"episode_index": 72, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 371}
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+{"episode_index": 108, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 377}
+{"episode_index": 109, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 320}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes_stats.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..658eb44cbb0a52cd24e76979761be15b2c19e0d0
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,110 @@
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/info.json b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b08dd9415424c9ec34c6cef341b29b44f50d96
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/modality.json b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_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/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/subtasks.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f106c67d3b39cc2cc7d13cc431b70bc70fb7dca6
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the yellow plate. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the yellow plate above the pink plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the yellow plate on top of the pink plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/tasks.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d86083da5467ddef198bebe214c1a478615eaff2
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/v40_validation.json b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..1607f0226093b328dfaa40979398268c990ce764
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 110,
+  "frames": 42934,
+  "video_frames": {
+    "observation.images.head_left": 42934,
+    "observation.images.wrist_left": 42934,
+    "observation.images.wrist_right": 42934,
+    "observation.images.head_right": 42934,
+    "observation.images.tactile_deform": 42934,
+    "observation.images.tactile_raw": 42934
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 110
+}
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/annotations.jsonl b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ec68bfc7b8c3dd39612713f6f10ae8b2d6efceb
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,110 @@
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+}
\ No newline at end of file
diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/modality.json b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+      "dtype": "float32",
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+  }
+}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/stats.json b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e0d72f26efb992fcd69ddc1862ce726863bfb7
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_17_01_21_train/lerobot_v3.0/meta/stats.json
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