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307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: reach: Right hand moves leftward toward the black plastic bag on the table, no contact with the bag during movement."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: grasp: Right hand contacts the edge of the black plastic bag and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand lifts the black plastic bag off the supporting surface. | Right hand: lift: Right hand lifts the black plastic bag off the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the black plastic bag towards the mesh trash bin. | Right hand: transport: Right hand carries the black plastic bag towards the mesh trash bin."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand transports the black plastic bag towards the position above the central trash bin. | Right hand: transport: Right hand transports the black plastic bag towards the position above the central trash bin."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand places the black plastic bag into 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"reasoning-language-00019", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: reach: Right hand reaches towards the overhanging edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1238, "end_step": 1311, "id": "reasoning-language-00020", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1312, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: release_retreat: Left hand releases the black plastic bag edge and retreats from the operation position. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00022", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00023", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1598, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00025", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the idle position. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "home", "start_step": 1894, "end_step": 2041, "id": "pc8yC3qshpHM3zprV6amX"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches towards the black plastic bag, and grasps its edge to adjust the position of the bag."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves leftward toward the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers gradually to grip the edge of the black plastic bag placed on the floor. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the 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"reasoning-language-00014", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: place: Right hand holds the black plastic bag and places it into the trash bin."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 825, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the 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hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1312, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: release_retreat: Left hand releases the black plastic bag edge and retreats from the operation position. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00022", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00023", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: reorient: Right hand 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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a12baf4df1196c2138001248e0cc9e7842cefc5
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,13 @@
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"Left hand: idle: Left hand remains empty at the left side of the black mesh trash can without moving. | Right hand: idle: Right hand remains empty at the right side of the black mesh trash can without moving."}], "episode_index": 4}
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307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: reach: Right hand moves leftward toward the black plastic bag on the table, no contact with the bag during movement."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: grasp: Right hand contacts the edge of the black plastic bag and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand lifts the black plastic bag off the supporting surface. | Right hand: lift: Right hand lifts the black plastic bag off the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the black plastic bag towards the mesh trash bin. | Right hand: transport: Right hand carries the black plastic bag towards the mesh trash bin."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand transports the black plastic bag towards the position above the central trash bin. | Right hand: transport: Right hand transports the black plastic bag towards the position above the central trash bin."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand places the black plastic bag into the central trash bin. | Right hand: place: Right hand places the black plastic bag into the central trash bin."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: reach: Left hand moves toward the edge of the black plastic bag above the trash bin. | Right hand: place: Right hand holds the black plastic bag and places it into the trash bin."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: place: Right hand holds the black plastic bag and places it into the trash bin."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 825, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: release: Right hand releases the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: retreat: Right hand retreats upward away from the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: reach: Right hand reaches towards the overhanging edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1238, "end_step": 1311, "id": "reasoning-language-00020", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1312, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: release_retreat: Left hand releases the black plastic bag edge and retreats from the operation position. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00022", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00023", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1598, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00025", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the idle position. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "home", "start_step": 1894, "end_step": 2041, "id": "pc8yC3qshpHM3zprV6amX"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches towards the black plastic bag, and grasps its edge to adjust the position of the bag."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves leftward toward the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag on the left side of the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers gradually to grip the edge of the black plastic bag placed on the floor. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: other:move_upward: Right hand moves upward slowly at the right edge of the frame, remaining empty."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: reach: Right hand moves leftward toward the black plastic bag on the table, no contact with the bag during movement."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag on the floor without any movement. | Right hand: grasp: Right hand contacts the edge of the black plastic bag and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand lifts the black plastic bag off the supporting surface. | Right hand: lift: Right hand lifts the black plastic bag off the supporting surface."}, {"label": "subtasks", "start_step": 382, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the black plastic bag towards the mesh trash bin. | Right hand: transport: Right hand carries the black plastic bag towards the mesh trash bin."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand transports the black plastic bag towards the position above the central trash bin. | Right hand: transport: Right hand transports the black plastic bag towards the position above the central trash bin."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand places the black plastic bag into the central trash bin. | Right hand: place: Right hand places the black plastic bag into the central trash bin."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: reach: Left hand moves toward the edge of the black plastic bag above the trash bin. | Right hand: place: Right hand holds the black plastic bag and places it into the trash bin."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: place: Right hand holds the black plastic bag and places it into the trash bin."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand grasps the edge of the black plastic bag at the top of the trash bin. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 825, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: press: Right hand presses the inner part of the black plastic bag down into the trash bin."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: release: Right hand releases the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag at the top of the trash bin without moving. | Right hand: retreat: Right hand retreats upward away from the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1237, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: reach: Right hand reaches towards the overhanging edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1238, "end_step": 1311, "id": "reasoning-language-00020", "text": "Left hand: fold: Left hand folds the overhanging edge of the black plastic bag while holding the edge. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1312, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: release_retreat: Left hand releases the black plastic bag edge and retreats from the operation position. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00022", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: grasp_fold: Right hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00023", "text": "Left hand: reach: Left hand reaches towards the overhanging edge of the black plastic bag again. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1598, "end_step": 1829, "id": "reasoning-language-00024", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: reorient: Right hand adjusts the inner posture of the black plastic bag to fit the container."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00025", "text": "Left hand: grasp_fold: Left hand grasps the overhanging edge of the black plastic bag and folds it over the bag rim. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the idle position. | Right hand: release_retreat: Right hand releases the black plastic bag and retreats to the idle position."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches towards the black plastic bag, and grasps its edge to adjust the position of the bag."}], "episode_index": 5}
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+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_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,
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+                480,
+                480,
+                3
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+            "names": [
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+            "names": [
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+                "video.is_depth_map": false,
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+                "has_audio": false
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+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
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+            "shape": [
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+                1200,
+                3
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+            "names": [
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+        "observation.images.tactile_raw": {
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+                3
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+            "names": [
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+                "video.codec": "h264",
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+        "timestamp": {
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+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
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+        "index": {
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "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": {
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+  },
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1004e8812a480e1e05c4e1b9038925d098db0d9a
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_16_42_05_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3df371ab7473ec4c42224e864a15118bfaca244b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,36 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9fb256af1ed5e3a19f7100dc832995d2d8d7284
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,36 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1931}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1884}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1562}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1955}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1755}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1717}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1875}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1944}
+{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1873}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1738}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1764}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1569}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1392}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1411}
+{"episode_index": 14, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1423}
+{"episode_index": 15, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1493}
+{"episode_index": 16, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1491}
+{"episode_index": 17, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1404}
+{"episode_index": 18, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1450}
+{"episode_index": 19, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1565}
+{"episode_index": 20, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1594}
+{"episode_index": 21, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1595}
+{"episode_index": 22, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1710}
+{"episode_index": 23, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1635}
+{"episode_index": 24, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1388}
+{"episode_index": 25, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1825}
+{"episode_index": 26, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1512}
+{"episode_index": 27, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1450}
+{"episode_index": 28, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1461}
+{"episode_index": 29, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1397}
+{"episode_index": 30, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1587}
+{"episode_index": 31, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1454}
+{"episode_index": 32, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1363}
+{"episode_index": 33, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1804}
+{"episode_index": 34, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1432}
+{"episode_index": 35, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1514}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..335002a12d74fbc0f3598b373a7e927a86e511d7
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,36 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..240e6266d099df0e534b8ae533ed27bac11e3812
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                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/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_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/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..6264cb79a9965aea0d699d6db6a4a65c59c9b5eb
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 36,
+  "frames": 57917,
+  "video_frames": {
+    "observation.images.head_left": 57917,
+    "observation.images.wrist_left": 57917,
+    "observation.images.wrist_right": 57917,
+    "observation.images.head_right": 57917,
+    "observation.images.tactile_deform": 57917,
+    "observation.images.tactile_raw": 57917
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 36
+}
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3df371ab7473ec4c42224e864a15118bfaca244b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,36 @@
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+            "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": {
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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_right": {
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+                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": [
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+                480,
+                3
+            ],
+            "names": [
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+            ],
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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
+            }
+        },
+        "observation.tactile": {
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+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_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/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba98c95286d9a61f783fcdc11f986e0a8cd103a8
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_03_17_45_48_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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