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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f86a006ed7706232c0d09dd692eb4917c8123df
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,64 @@
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+            ]
+        },
+        "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.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
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+                "width",
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.channels": 3,
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+        },
+        "observation.images.wrist_right": {
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+                3
+            ],
+            "names": [
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+            "info": {
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+                "video.is_depth_map": false,
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+            ],
+            "names": [
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+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
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+                "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": {
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+                "video.width": 1200,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
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+            "shape": [
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+                1600,
+                3
+            ],
+            "names": [
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+            "info": {
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+                "video.width": 1600,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
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+            "names": null
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+        "index": {
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+        },
+        "task_index": {
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+            "shape": [
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_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": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..287b8e41c870012842e934bdf0e936c55253e6fd
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_15_11_05_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d826050934021525dad78f3baade2db55739f66c
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,19 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6434fdd8817d0e668079a6527ad3b58d2f0da1d5
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,19 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1207}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1129}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1154}
+{"episode_index": 3, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 979}
+{"episode_index": 4, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1001}
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+{"episode_index": 14, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 936}
+{"episode_index": 15, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 798}
+{"episode_index": 16, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 901}
+{"episode_index": 17, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 859}
+{"episode_index": 18, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1014}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f12e1e59b2906afc7f9d1de0bfa9a7d5eab66e02
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,19 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec8b7f38e90b7cb2c3cbe225e0a41538047e574
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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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"
+            ]
+        },
+        "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/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_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/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27554ba14f3cfe4967baf813ff752b221b83f276
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef3e8b22b3a7a3e36f90999a59d38df675a40d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95569e82d0aede8ef8a6f635caff74ac707776c
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 19,
+  "frames": 18401,
+  "video_frames": {
+    "observation.images.head_left": 18401,
+    "observation.images.wrist_left": 18401,
+    "observation.images.wrist_right": 18401,
+    "observation.images.head_right": 18401,
+    "observation.images.tactile_deform": 18401,
+    "observation.images.tactile_raw": 18401
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 19
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d826050934021525dad78f3baade2db55739f66c
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,19 @@
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+                "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.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
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+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
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+                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,
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
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+            "shape": [
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
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+            "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.tactile": {
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+            "shape": [
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+            ],
+            "names": [
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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": {
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+                "video.width": 1200,
+                "video.codec": "h264",
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+                "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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+                "video.width": 1600,
+                "video.codec": "h264",
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+                "video.fps": 30,
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+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
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+            "names": null
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+        "index": {
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+        },
+        "task_index": {
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_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": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c845930247756d8a8e5c1636d794b5a3dff46f38
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_19_14_11_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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