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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/dataset_metadata.json b/Simulation/GelSight_mini/insert_block_v1/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d95ee78a22b86048335aeb391bcf0aa4efb918
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/meta/dataset_metadata.json
@@ -0,0 +1,39 @@
+{
+  "batch_key": "insert_block_v1",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_block_v1",
+  "source_variants": [
+    "."
+  ],
+  "instructions": [
+    "Insert the blue cube into the matching hole in the yellow box."
+  ],
+  "robot": "Franka",
+  "tactile_sensor": "GelSight_mini_simulated",
+  "fps": 60,
+  "fps_basis": "120 Hz simulation, nominal source step interval 2",
+  "source_step_gap_policy": "timestamps use frame_index / 60; source step exceptions are retained in conversion_manifest.jsonl",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "finger_position_units": "metres",
+  "gripper_width_m": "left_finger_m + right_finger_m",
+  "gripper_open_fraction": "clip((left_finger_m + right_finger_m) / 0.08, 0, 1); 0 closed, 1 fully open",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue before video encoding and image statistics",
+  "image_sources": {
+    "observation.images.head": "observation/head/rgb",
+    "observation.images.wrist": "observation/wrist/rgb",
+    "observation.images.tactile_left": "tactile/left_tactile/rgb_marker",
+    "observation.images.tactile_right": "tactile/right_tactile/rgb_marker"
+  },
+  "image_statistics": "LeRobot v2.1 sampling policy applied to decoded, channel-corrected HDF5 images",
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 25444
+}
diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/episodes.jsonl b/Simulation/GelSight_mini/insert_block_v1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c08a6246b861607b35500b7be4b6767b53ebcc42
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/meta/episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/insert_block_v1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6eab6efb9e8da7cdcc4db6fd5dd3368d32266bd9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/meta/episodes_stats.jsonl
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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/info.json b/Simulation/GelSight_mini/insert_block_v1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f7b898b2fda58e89deb4354c0d20aad4f7be740
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/meta/info.json
@@ -0,0 +1,250 @@
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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/stats.json b/Simulation/GelSight_mini/insert_block_v1/meta/stats.json
new file mode 100644
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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/tasks.jsonl b/Simulation/GelSight_mini/insert_block_v1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9ec4ff426f02a0c4eb473487a9994e2c7b3d6cc
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diff --git a/Simulation/GelSight_mini/insert_block_v1/meta/video_validation.json b/Simulation/GelSight_mini/insert_block_v1/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ddd1b5ea6797ab6da72302285ccc91f82ae91de
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diff --git a/Simulation/GelSight_mini/insert_block_v2/README.md b/Simulation/GelSight_mini/insert_block_v2/README.md
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+# insert_block_v2 (OpenViTac simulation, LeRobot v2.1)
+
+300 episodes; 78107 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
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