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diff --git a/Simulation/Xense/insert_USB/README.md b/Simulation/Xense/insert_USB/README.md
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+# OpenViTac simulation insert_USB — Xense (LeRobot v2.1)
+
+100 episodes, 23012 frames, 60 FPS. Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state` is seven Franka arm joint positions (radians) and the measured gripper open fraction. 1 - mean(joint[7], joint[8]) / (pi/4); Robotiq joint units radians; 0=closed, 1=open. The EEF pose uses simulation world coordinates and an xyzw quaternion. Rotation vectors are absolute; 3x3 matrices are row-major. Numeric observations are float32. No action feature is stored.
+
+The four common RGB video keys are head, wrist, tactile_left, and tactile_right. The tactile keys use rgb_marker; additional tactile_left_rgb and tactile_right_rgb videos contain the plain tactile RGB stream. Timestamps use frame_index / 60.
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+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "139", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/139.hdf5", "episode_index": 74, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 221, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "141", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/141.hdf5", "episode_index": 75, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "142", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/142.hdf5", "episode_index": 76, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 214, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
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+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "147", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/147.hdf5", "episode_index": 80, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 232, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
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+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "160", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/160.hdf5", "episode_index": 87, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 238, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "162", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/162.hdf5", "episode_index": 88, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 215, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
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+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "165", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/165.hdf5", "episode_index": 90, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 217, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
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+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "179", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/179.hdf5", "episode_index": 98, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 227, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
+{"batch_key": "insert_USB", "sensor": "Xense", "source_task": "insert_USB", "source_episode_id": "184", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB/184.hdf5", "episode_index": 99, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 259, "source_step_gaps": [{"after_frame_index": 0, "source_step_delta": 1}]}
diff --git a/Simulation/Xense/insert_USB/meta/dataset_metadata.json b/Simulation/Xense/insert_USB/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1772744e083f7f2e8ee62048e837835dea020b91
--- /dev/null
+++ b/Simulation/Xense/insert_USB/meta/dataset_metadata.json
@@ -0,0 +1,88 @@
+{
+  "batch_key": "insert_USB",
+  "sensor": "Xense",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/Xense/insert_USB",
+  "original_collection_path": "/data/home/liqin/VLA/ViTaForge/data/insert_USB/xense/hdf5",
+  "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.",
+  "fps": 60,
+  "fps_basis": "nominal two simulator steps per saved frame at 120 Hz; source step exceptions are in the manifest",
+  "robot": "Franka",
+  "gripper": "Robotiq 2F-85",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue channels before video encoding and image statistics",
+  "gripper_open_fraction": "1 - mean(joint[7], joint[8]) / (pi/4); Robotiq joint units radians; 0=closed, 1=open",
+  "image_sources": {
+    "observation.images.head": {
+      "hdf5_key": "observation/head/rgb",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        270,
+        480,
+        3
+      ]
+    },
+    "observation.images.wrist": {
+      "hdf5_key": "observation/wrist/rgb",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        270,
+        480,
+        3
+      ]
+    },
+    "observation.images.tactile_left": {
+      "hdf5_key": "tactile/left_tactile/rgb_marker",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        700,
+        400,
+        3
+      ]
+    },
+    "observation.images.tactile_right": {
+      "hdf5_key": "tactile/right_tactile/rgb_marker",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        700,
+        400,
+        3
+      ]
+    },
+    "observation.images.tactile_left_rgb": {
+      "hdf5_key": "tactile/left_tactile/rgb",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        700,
+        400,
+        3
+      ]
+    },
+    "observation.images.tactile_right_rgb": {
+      "hdf5_key": "tactile/right_tactile/rgb",
+      "source_form": "jpeg",
+      "shape_hwc": [
+        700,
+        400,
+        3
+      ]
+    }
+  },
+  "omitted_source_modalities": [
+    "tactile depth",
+    "tactile indentation",
+    "tactile marker coordinates",
+    "tactile pose"
+  ],
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 23012
+}
diff --git a/Simulation/Xense/insert_USB/meta/episodes.jsonl b/Simulation/Xense/insert_USB/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..257c96f5b521900319b09b535dc517cbb5ea878f
--- /dev/null
+++ b/Simulation/Xense/insert_USB/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 1, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 218}
+{"episode_index": 2, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 3, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 212}
+{"episode_index": 4, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 275}
+{"episode_index": 5, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 226}
+{"episode_index": 6, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 230}
+{"episode_index": 7, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 209}
+{"episode_index": 8, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 253}
+{"episode_index": 9, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 10, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 216}
+{"episode_index": 11, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 12, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 13, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 14, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 220}
+{"episode_index": 15, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 247}
+{"episode_index": 16, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 225}
+{"episode_index": 17, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 240}
+{"episode_index": 18, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 233}
+{"episode_index": 19, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 223}
+{"episode_index": 20, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 234}
+{"episode_index": 21, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 240}
+{"episode_index": 22, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 208}
+{"episode_index": 23, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 24, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 239}
+{"episode_index": 25, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 226}
+{"episode_index": 26, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 218}
+{"episode_index": 27, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 228}
+{"episode_index": 28, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 218}
+{"episode_index": 29, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 242}
+{"episode_index": 30, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 268}
+{"episode_index": 31, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 32, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 222}
+{"episode_index": 33, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 225}
+{"episode_index": 34, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 215}
+{"episode_index": 35, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 227}
+{"episode_index": 36, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 262}
+{"episode_index": 37, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 228}
+{"episode_index": 38, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 218}
+{"episode_index": 39, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 212}
+{"episode_index": 40, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 207}
+{"episode_index": 41, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 235}
+{"episode_index": 42, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 230}
+{"episode_index": 43, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 248}
+{"episode_index": 44, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 212}
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diff --git a/Simulation/Xense/insert_USB/meta/episodes_stats.jsonl b/Simulation/Xense/insert_USB/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b49e39e5d7a010fa2c21af2953fe64948c4885a
--- /dev/null
+++ b/Simulation/Xense/insert_USB/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/Simulation/Xense/insert_USB/meta/info.json b/Simulation/Xense/insert_USB/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eee984885a0b2baa708970825006d592d325d85
--- /dev/null
+++ b/Simulation/Xense/insert_USB/meta/info.json
@@ -0,0 +1,302 @@
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+}
\ No newline at end of file
diff --git a/Simulation/Xense/insert_USB/meta/stats.json b/Simulation/Xense/insert_USB/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f7f7835ef05b68fe5556568bcd6c1536760de6
--- /dev/null
+++ b/Simulation/Xense/insert_USB/meta/stats.json
@@ -0,0 +1,817 @@
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