Bimanual teleoperation on common arms

Embodiment: ALOHA-style leader-follower, bimanual UR5 or Franka, or paired SO-100 arms. State the exact arm and gripper.
Modalities: joint states and actions for both arms at 30 Hz or more, three or more RGB views (top and one per wrist).
Tasks: folding, handovers, bimanual assembly, tool use, packing. At least 30 distinct tasks.
Environment: lab, home or workplace; at least 10 distinct scenes.
Labels: task string per episode, success or failure.
Format: LeRobot v3.0 (we can convert v2.1, MCAP or raw video with Prep). Acceptance: passes Soul Verified validation (decodes, streams in sync, every episode labelled) on a 2 hour sample before the full order. Rate is final after the sample is validated.
Rate: $90 to $120 per capture hour, final on validation.