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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9078a7afd0dffa5c1983b99736509e3e566a74e6
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,29 @@
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+                "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.joint_torque": {
+            "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": {
+            "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": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b60bebf64020c4e9f3fffb79b5a8ccff620efd5
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_20_16_34_28_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+                    0.0
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00127f18b0416ccc01c1d2d20c45dc5df34e8cdf
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,23 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27c7964a71abc2f84462012c4f2ee93999bec53d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,23 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1394}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1457}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1218}
+{"episode_index": 3, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1738}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a72d0a569a4c404b64b145ccca59f9ef62de393
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,23 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2166ae10fcc658805c963ccbe20e689dde871493
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+        "timestamp": {
+            "dtype": "float32",
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+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
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@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/tasks.jsonl
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@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..be859308e49afa0ef9a5ec347c19f22fa2751bb8
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 23,
+  "frames": 30372,
+  "video_frames": {
+    "observation.images.head_left": 30372,
+    "observation.images.wrist_left": 30372,
+    "observation.images.wrist_right": 30372,
+    "observation.images.head_right": 30372,
+    "observation.images.tactile_deform": 30372,
+    "observation.images.tactile_raw": 30372
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 23
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00127f18b0416ccc01c1d2d20c45dc5df34e8cdf
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,23 @@
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+                "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.joint_torque": {
+            "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": {
+            "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": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39e880fd4c5a49bc01eef8b3c5e19e944eb78b0
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_13_44_44_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a3b1d6e2bd1b2d2f00dc6af29c3285ae4c67f52
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,20 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5cf7cc10d2abf8bd090732a63d950bb20610ebc9
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,20 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1484}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1178}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1111}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b16f029c3902a5d54921ba0be171c2dd22b4a537
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,20 @@
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"observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6666666865348816]], [[0.6666666865348816]], [[0.6666666865348816]]], "mean": [[[0.0040776366367936134]], [[0.0040776366367936134]], [[0.0040776366367936134]]], "std": [[[0.042821623384952545]], [[0.042821623384952545]], [[0.042821623384952545]]], "count": [1105]}, "observation.images.tactile_raw": {"min": [[[0.054901961237192154]], [[0.054901961237192154]], [[0.054901961237192154]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4685037434101105]], [[0.4685037434101105]], [[0.4685037434101105]]], "std": [[[0.15442776679992676]], [[0.15442776679992676]], [[0.15442776679992676]]], "count": [1105]}}}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da175208085b76dbf9c2f27778428ed3c2e12ea
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 20,
+    "total_frames": 23996,
+    "total_tasks": 1,
+    "total_videos": 120,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:20"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "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.joint_torque": {
+            "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": {
+            "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": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27554ba14f3cfe4967baf813ff752b221b83f276
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/tasks.jsonl
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v2.1/meta/v40_validation.json
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+  "episodes": 20,
+  "frames": 23996,
+  "video_frames": {
+    "observation.images.head_left": 23996,
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+    "observation.images.wrist_right": 23996,
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+    "observation.images.tactile_deform": 23996,
+    "observation.images.tactile_raw": 23996
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 20
+}
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a3b1d6e2bd1b2d2f00dc6af29c3285ae4c67f52
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,20 @@
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+                "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.joint_torque": {
+            "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": {
+            "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": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_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/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/stats.json b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..767b43379f2f89677b09850be33366c850baedc6
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22018_2026_04_21_16_28_09_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/annotations.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1df538acc1e0124fd51a37c0b34fb4869cc0fb58
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,79 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3315aac57265e453c732d8801f288f1278b3ec8
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,79 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1080}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1028}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1122}
+{"episode_index": 3, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1049}
+{"episode_index": 4, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 908}
+{"episode_index": 5, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 986}
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+{"episode_index": 9, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1144}
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+{"episode_index": 13, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1008}
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+{"episode_index": 15, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1010}
+{"episode_index": 16, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1052}
+{"episode_index": 17, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1007}
+{"episode_index": 18, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 995}
+{"episode_index": 19, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1108}
+{"episode_index": 20, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1099}
+{"episode_index": 21, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 967}
+{"episode_index": 22, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1006}
+{"episode_index": 23, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1094}
+{"episode_index": 24, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1082}
+{"episode_index": 25, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 914}
+{"episode_index": 26, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1029}
+{"episode_index": 27, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 997}
+{"episode_index": 28, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 934}
+{"episode_index": 29, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1055}
+{"episode_index": 30, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1132}
+{"episode_index": 31, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1037}
+{"episode_index": 32, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1041}
+{"episode_index": 33, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 830}
+{"episode_index": 34, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 970}
+{"episode_index": 35, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 990}
+{"episode_index": 36, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1074}
+{"episode_index": 37, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1008}
+{"episode_index": 38, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1138}
+{"episode_index": 39, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1079}
+{"episode_index": 40, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 866}
+{"episode_index": 41, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 992}
+{"episode_index": 42, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 976}
+{"episode_index": 43, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1018}
+{"episode_index": 44, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 867}
+{"episode_index": 45, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 903}
+{"episode_index": 46, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 878}
+{"episode_index": 47, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 996}
+{"episode_index": 48, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 900}
+{"episode_index": 49, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1017}
+{"episode_index": 50, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1050}
+{"episode_index": 51, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1035}
+{"episode_index": 52, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 924}
+{"episode_index": 53, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1016}
+{"episode_index": 54, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 912}
+{"episode_index": 55, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1040}
+{"episode_index": 56, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 801}
+{"episode_index": 57, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 921}
+{"episode_index": 58, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 952}
+{"episode_index": 59, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 836}
+{"episode_index": 60, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 790}
+{"episode_index": 61, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 848}
+{"episode_index": 62, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 831}
+{"episode_index": 63, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1002}
+{"episode_index": 64, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 876}
+{"episode_index": 65, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 820}
+{"episode_index": 66, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 865}
+{"episode_index": 67, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 700}
+{"episode_index": 68, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 1149}
+{"episode_index": 69, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 877}
+{"episode_index": 70, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 904}
+{"episode_index": 71, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 967}
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+{"episode_index": 74, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 876}
+{"episode_index": 75, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 799}
+{"episode_index": 76, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 746}
+{"episode_index": 77, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 827}
+{"episode_index": 78, "tasks": ["Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."], "length": 833}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes_stats.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9c1c3d4fbb68a2c98226614c4302f532ed10938
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,79 @@
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diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/info.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..74186897e3dcc461b593ea14aebf010b1ef9eef2
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/modality.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/subtasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27554ba14f3cfe4967baf813ff752b221b83f276
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Position the spoon above the salt jar opening. | Skill: approach"}
+{"subtask_index": 1, "subtask": "Hold the jar steady with one hand, then insert the spoon with the other hand into the salt jar and scoop up salt. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Lift the spoon out of the salt jar with salt on it. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Transfer the spoon from the salt jar to above the paper cup. | Skill: transfer"}
+{"subtask_index": 4, "subtask": "Tilt the spoon by rotating the wrist to pour salt into the paper cup. | Skill: pour"}
+{"subtask_index": 5, "subtask": "Return the spoon to a neutral position and withdraw from the cup area. | Skill: retract"}
+{"subtask_index": 6, "subtask": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/tasks.jsonl b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef3e8b22b3a7a3e36f90999a59d38df675a40d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt from the Jar | Instruction: Use one hand to hold the salt jar steady, and use the other hand holding a household soup spoon to scoop salt from the jar, transfer the spoon to a paper cup, and pour the salt into the paper cup by controlling the wrist rotation angle to avoid spilling. | Scene: A tabletop with a salt jar filled with granulated salt, a soup spoon, and an empty paper cup placed nearby. | Success: Salt is successfully scooped from the jar and poured into the paper cup without spilling outside the cup."}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/v40_validation.json b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95d62e01edf1bd137760fc758a6310ebb76107d
--- /dev/null
+++ b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 79,
+  "frames": 76623,
+  "video_frames": {
+    "observation.images.head_left": 76623,
+    "observation.images.wrist_left": 76623,
+    "observation.images.wrist_right": 76623,
+    "observation.images.head_right": 76623,
+    "observation.images.tactile_deform": 76623,
+    "observation.images.tactile_raw": 76623
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 79
+}
diff --git a/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/scoop_salt_from_jar_into_cup/season_POC22027_2026_04_22_16_15_10_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
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