diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53913419ce6e46685575e6acfb3c032fb99812ba
--- /dev/null
+++ b/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c002beb05d4ddbeccf788ad00832c981f3ae1fc06deadf138107f5a17ca855
+size 4123798
diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..11dd1bf22406e3afeec6a2647089450c9e48e520
--- /dev/null
+++ b/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0fa999e16e1abd952d043a2b69770639ee6246a3dc5f5d185d8e2c173e96bc
+size 117656
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7deb951400cbf18b8bd36b80458e0e2c84620729
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,204 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "g1d",
+    "total_episodes": 16,
+    "total_frames": 30852,
+    "total_tasks": 4,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:16"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "left_shoulder_pitch.pos",
+                "left_shoulder_roll.pos",
+                "left_shoulder_yaw.pos",
+                "left_elbow.pos",
+                "left_wrist_roll.pos",
+                "left_wrist_pitch.pos",
+                "left_wrist_yaw.pos",
+                "right_shoulder_pitch.pos",
+                "right_shoulder_roll.pos",
+                "right_shoulder_yaw.pos",
+                "right_elbow.pos",
+                "right_wrist_roll.pos",
+                "right_wrist_pitch.pos",
+                "right_wrist_yaw.pos",
+                "left_thumb.pos",
+                "left_thumb_aux.pos",
+                "left_index.pos",
+                "left_middle.pos",
+                "left_ring.pos",
+                "left_pinky.pos",
+                "right_thumb.pos",
+                "right_thumb_aux.pos",
+                "right_index.pos",
+                "right_middle.pos",
+                "right_ring.pos",
+                "right_pinky.pos"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "left_shoulder_pitch.pos",
+                "left_shoulder_roll.pos",
+                "left_shoulder_yaw.pos",
+                "left_elbow.pos",
+                "left_wrist_roll.pos",
+                "left_wrist_pitch.pos",
+                "left_wrist_yaw.pos",
+                "right_shoulder_pitch.pos",
+                "right_shoulder_roll.pos",
+                "right_shoulder_yaw.pos",
+                "right_elbow.pos",
+                "right_wrist_roll.pos",
+                "right_wrist_pitch.pos",
+                "right_wrist_yaw.pos",
+                "left_thumb.pos",
+                "left_thumb_aux.pos",
+                "left_index.pos",
+                "left_middle.pos",
+                "left_ring.pos",
+                "left_pinky.pos",
+                "right_thumb.pos",
+                "right_thumb_aux.pos",
+                "right_index.pos",
+                "right_middle.pos",
+                "right_ring.pos",
+                "right_pinky.pos"
+            ]
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1280,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "segment_index": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "phase": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8af5435718c0d48b380547c620a1d3646348f6b
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,1214 @@
+{
+    "observation.state": {
+        "min": [
+            -0.922521710395813,
+            -0.145081028342247,
+            -1.0124154090881348,
+            -0.7907910943031311,
+            -1.0690288543701172,
+            -1.10692298412323,
+            -1.396006464958191,
+            -1.0008265972137451,
+            -0.6357392072677612,
+            -0.5771483182907104,
+            -0.5208703875541687,
+            -1.593482494354248,
+            -0.7700464129447937,
+            -0.9239118695259094,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.9707222580909729,
+            0.859233021736145,
+            0.21149760484695435,
+            1.1838617324829102,
+            1.9695594310760498,
+            1.3621989488601685,
+            0.9991008639335632,
+            0.4731371998786926,
+            0.06898120045661926,
+            0.7596680521965027,
+            1.3321185111999512,
+            0.49492454528808594,
+            0.6018837690353394,
+            0.8027633428573608,
+            1.477370023727417,
+            0.9455400109291077,
+            1.3507800102233887,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            0.7174899578094482,
+            0.35843998193740845,
+            0.7374299764633179,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399
+        ],
+        "mean": [
+            0.12687164545059204,
+            0.2729855179786682,
+            -0.3107315003871918,
+            0.0079957265406847,
+            0.7078077793121338,
+            -0.020951254293322563,
+            0.11087280511856079,
+            -0.059446316212415695,
+            -0.168776273727417,
+            0.0782955065369606,
+            0.1876789778470993,
+            -0.3298426866531372,
+            -0.18757234513759613,
+            -0.07079300284385681,
+            0.08953756093978882,
+            0.04993275925517082,
+            0.05279438942670822,
+            0.11992357671260834,
+            0.12878692150115967,
+            0.1572573035955429,
+            0.0022893704008311033,
+            0.00012439322017598897,
+            0.0001986211573239416,
+            0.004901683423668146,
+            0.0049665835686028,
+            0.004963334184139967
+        ],
+        "std": [
+            0.322634756565094,
+            0.2051467001438141,
+            0.23861007392406464,
+            0.32644838094711304,
+            0.7456419467926025,
+            0.34678810834884644,
+            0.433224618434906,
+            0.26912614703178406,
+            0.12498071044683456,
+            0.230195552110672,
+            0.35870543122291565,
+            0.395555317401886,
+            0.2290980964899063,
+            0.19363102316856384,
+            0.2060132473707199,
+            0.17595982551574707,
+            0.19256480038166046,
+            0.3527175486087799,
+            0.3684789836406708,
+            0.4197724461555481,
+            0.010546238161623478,
+            0.005416991654783487,
+            0.009254549629986286,
+            0.07238195091485977,
+            0.07349669188261032,
+            0.07343454658985138
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            -0.7584760791063309,
+            -0.09158836483955383,
+            -0.7703027361631394,
+            -0.6458498024940491,
+            -0.921771849989891,
+            -0.8284454941749573,
+            -1.183680853843689,
+            -0.9627900177240372,
+            -0.5124015104770661,
+            -0.42168257921934127,
+            -0.3857580608129501,
+            -1.358950252532959,
+            -0.6300375580787658,
+            -0.5315871649980545,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q10": [
+            -0.32260334491729736,
+            0.007696269592270264,
+            -0.6121901869773865,
+            -0.391064441204071,
+            -0.6403651058673857,
+            -0.4270674467086792,
+            -0.5674170851707458,
+            -0.37557363510131836,
+            -0.3518951922655105,
+            -0.12971486300230026,
+            -0.17026707977056502,
+            -0.9929242432117462,
+            -0.4563820600509644,
+            -0.3011168539524078,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q50": [
+            0.12199941650032997,
+            0.27064575254917145,
+            -0.31873245537281036,
+            -0.02949317917227745,
+            0.9048269987106323,
+            -0.012152004055678844,
+            0.18035659939050674,
+            -0.0024447820615023375,
+            -0.14189323037862778,
+            0.01423725951462984,
+            0.11121360957622528,
+            -0.1870318129658699,
+            -0.22216956317424774,
+            -0.07246261835098267,
+            0.025120001286268234,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0015700000803917646,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q90": [
+            0.5222461700439454,
+            0.5668958067893983,
+            0.038228479400277154,
+            0.44906091690063477,
+            1.6583914279937746,
+            0.37565633058547976,
+            0.5576571583747865,
+            0.17800050228834155,
+            -0.028438566252589226,
+            0.47192441225051884,
+            0.6183680534362794,
+            0.05784785374999046,
+            0.15458452701568604,
+            0.15701012909412396,
+            0.21508999168872833,
+            0.0,
+            0.0,
+            0.37491899132728784,
+            0.4610700011253357,
+            0.8967599868774414,
+            0.0031400001607835293,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q99": [
+            0.8195153671503063,
+            0.7333600378036493,
+            0.11518626220524308,
+            0.9632619315385819,
+            1.9686065912246704,
+            1.0068208646774273,
+            0.80133059322834,
+            0.3220034351944922,
+            0.0439459147304296,
+            0.6268217200040814,
+            1.2944880723953247,
+            0.34508996248245205,
+            0.3433517694473262,
+            0.4804767176508902,
+            1.3266500234603882,
+            0.8281199932098389,
+            0.8248499631881714,
+            1.409999966621399,
+            1.4085899591445923,
+            1.409999966621399,
+            0.015699999406933784,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ]
+    },
+    "action": {
+        "min": [
+            -0.9387032389640808,
+            -0.20694798231124878,
+            -1.027047038078308,
+            -0.805396556854248,
+            -1.0756912231445312,
+            -1.1094839572906494,
+            -1.4218190908432007,
+            -1.0377742052078247,
+            -0.6533755660057068,
+            -0.5790711045265198,
+            -0.530662477016449,
+            -1.6104322671890259,
+            -0.7701228260993958,
+            -0.9330289959907532,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.9790520071983337,
+            0.8750256896018982,
+            0.21126528084278107,
+            1.1937376260757446,
+            1.972057819366455,
+            1.3667669296264648,
+            1.0026887655258179,
+            0.47101891040802,
+            0.08463887125253677,
+            0.8072949051856995,
+            1.342431902885437,
+            0.5047197341918945,
+            0.6191864609718323,
+            0.8080153465270996,
+            1.5700000524520874,
+            1.0299999713897705,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            1.5700000524520874,
+            1.0299999713897705,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399
+        ],
+        "mean": [
+            0.12924142181873322,
+            0.273508220911026,
+            -0.3139515519142151,
+            0.01215319149196148,
+            0.7098460793495178,
+            -0.0196943711489439,
+            0.10514642298221588,
+            -0.06012452393770218,
+            -0.16936276853084564,
+            0.07986076921224594,
+            0.18912838399410248,
+            -0.3280770480632782,
+            -0.1831061989068985,
+            -0.06629659980535507,
+            0.11684780567884445,
+            0.07520409673452377,
+            0.10294534265995026,
+            0.16616696119308472,
+            0.16616696119308472,
+            0.16616696119308472,
+            0.001097565283998847,
+            0.0002867198782041669,
+            0.0003925000783056021,
+            0.004956977907568216,
+            0.004956977907568216,
+            0.004956977907568216
+        ],
+        "std": [
+            0.32108962535858154,
+            0.20913708209991455,
+            0.24135242402553558,
+            0.3301626145839691,
+            0.7434284090995789,
+            0.346007376909256,
+            0.4297546148300171,
+            0.2724365293979645,
+            0.12641124427318573,
+            0.23230019211769104,
+            0.35926327109336853,
+            0.3947785496711731,
+            0.22954514622688293,
+            0.19422093033790588,
+            0.4053066372871399,
+            0.2662166357040405,
+            0.3644271194934845,
+            0.44693565368652344,
+            0.44693565368652344,
+            0.44693565368652344,
+            0.0212256982922554,
+            0.01382084097713232,
+            0.018919792026281357,
+            0.07776733487844467,
+            0.07776733487844467,
+            0.07776733487844467
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            -0.7271530747413635,
+            -0.1268278305232525,
+            -0.7878564596176147,
+            -0.6353725272417069,
+            -0.9165726900100708,
+            -0.8318170791864395,
+            -1.1623480367660521,
+            -0.9667980271577835,
+            -0.5193767446279526,
+            -0.42381295323371887,
+            -0.38680304020643236,
+            -1.361670162677765,
+            -0.6233917373418808,
+            -0.5224384713172913,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q10": [
+            -0.32241603434085847,
+            0.008737560547888289,
+            -0.6247106075286866,
+            -0.3912847876548767,
+            -0.6293276667594909,
+            -0.42416470944881435,
+            -0.5782374143600464,
+            -0.37270961403846736,
+            -0.3581300318241119,
+            -0.1312297061085701,
+            -0.17423080205917357,
+            -0.9892326831817627,
+            -0.4531772553920746,
+            -0.29675959050655365,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q50": [
+            0.12299774214625359,
+            0.27311083674430847,
+            -0.3201347887516022,
+            -0.025020995177328587,
+            0.9043214917182922,
+            -0.00738331419415772,
+            0.16892699897289276,
+            -0.0025252943160012364,
+            -0.14123140275478363,
+            0.015298342797905207,
+            0.1169712096452713,
+            -0.19239240884780884,
+            -0.21546800434589386,
+            -0.07018300145864487,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q90": [
+            0.5191941738128663,
+            0.5712325572967529,
+            0.03854228928685193,
+            0.45652665793895725,
+            1.6669895172119145,
+            0.3786744028329849,
+            0.5509805798530579,
+            0.18390295356512074,
+            -0.028227823972701977,
+            0.4787928730249409,
+            0.6190109848976136,
+            0.053388725966215134,
+            0.16674247086048133,
+            0.16798629611730587,
+            0.03297000005841255,
+            0.0,
+            0.0,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "q99": [
+            0.8224101066589355,
+            0.7348682463169095,
+            0.10492300242185593,
+            0.9938727116584776,
+            1.9689649868011474,
+            1.0049773681163783,
+            0.7954557275772083,
+            0.32163682669401145,
+            0.041626110337674584,
+            0.6297254407405852,
+            1.302784272432327,
+            0.34662066489458043,
+            0.3539694660902007,
+            0.4839325252175325,
+            1.5700000524520874,
+            1.0299999713897705,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            1.409999966621399,
+            0.015699999406933784,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ]
+    },
+    "segment_index": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            3.0
+        ],
+        "mean": [
+            1.3590366840362549
+        ],
+        "std": [
+            1.124292254447937
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            0.0
+        ],
+        "q10": [
+            0.0
+        ],
+        "q50": [
+            1.0
+        ],
+        "q90": [
+            3.0
+        ],
+        "q99": [
+            3.0
+        ]
+    },
+    "phase": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            2.0
+        ],
+        "mean": [
+            0.11665370315313339
+        ],
+        "std": [
+            0.39962881803512573
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            0.0
+        ],
+        "q10": [
+            0.0
+        ],
+        "q50": [
+            0.0
+        ],
+        "q90": [
+            0.0
+        ],
+        "q99": [
+            2.0
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            91.16666412353516
+        ],
+        "mean": [
+            33.759609315557405
+        ],
+        "std": [
+            21.0769017040341
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            0.6333333253860474
+        ],
+        "q10": [
+            6.400000095367432
+        ],
+        "q50": [
+            32.13333511352539
+        ],
+        "q90": [
+            62.13333511352539
+        ],
+        "q99": [
+            85.31633613586419
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            2735
+        ],
+        "mean": [
+            1012.7882795280694
+        ],
+        "std": [
+            632.3070512195574
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            19.0
+        ],
+        "q10": [
+            192.0
+        ],
+        "q50": [
+            964.0
+        ],
+        "q90": [
+            1864.0
+        ],
+        "q99": [
+            2559.489999999998
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            15
+        ],
+        "mean": [
+            7.549040580837547
+        ],
+        "std": [
+            4.584735302715699
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            0.0
+        ],
+        "q10": [
+            1.0
+        ],
+        "q50": [
+            8.0
+        ],
+        "q90": [
+            14.0
+        ],
+        "q99": [
+            15.0
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            30851
+        ],
+        "mean": [
+            15425.5
+        ],
+        "std": [
+            8906.20524784078
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            308.51
+        ],
+        "q10": [
+            3085.1000000000004
+        ],
+        "q50": [
+            15425.5
+        ],
+        "q90": [
+            27765.9
+        ],
+        "q99": [
+            30542.489999999998
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            3
+        ],
+        "mean": [
+            1.359036691300402
+        ],
+        "std": [
+            1.124292286010066
+        ],
+        "count": [
+            30852
+        ],
+        "q01": [
+            0.0
+        ],
+        "q10": [
+            0.0
+        ],
+        "q50": [
+            1.0
+        ],
+        "q90": [
+            3.0
+        ],
+        "q99": [
+            3.0
+        ]
+    },
+    "observation.images.head": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.45392559521270026
+                ]
+            ],
+            [
+                [
+                    0.5309546184465008
+                ]
+            ],
+            [
+                [
+                    0.46757481601829587
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.20865801439029194
+                ]
+            ],
+            [
+                [
+                    0.24650693192329656
+                ]
+            ],
+            [
+                [
+                    0.2356855894626693
+                ]
+            ]
+        ],
+        "count": [
+            4625
+        ],
+        "q01": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.024838579756226813
+                ]
+            ],
+            [
+                [
+                    0.05129157392686804
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.10156226815050344
+                ]
+            ],
+            [
+                [
+                    0.14623677795442502
+                ]
+            ],
+            [
+                [
+                    0.14716947535771063
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5207088500264971
+                ]
+            ],
+            [
+                [
+                    0.5580430312665606
+                ]
+            ],
+            [
+                [
+                    0.44820519342872284
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6673967143614202
+                ]
+            ],
+            [
+                [
+                    0.8435713831478535
+                ]
+            ],
+            [
+                [
+                    0.8039173290937996
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7637333333333332
+                ]
+            ],
+            [
+                [
+                    0.9784487546369899
+                ]
+            ],
+            [
+                [
+                    0.9608826709062003
+                ]
+            ]
+        ]
+    },
+    "observation.images.left_wrist": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5334417707582751
+                ]
+            ],
+            [
+                [
+                    0.511040008831117
+                ]
+            ],
+            [
+                [
+                    0.5086727590996627
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.35557743573019857
+                ]
+            ],
+            [
+                [
+                    0.36052865043862964
+                ]
+            ],
+            [
+                [
+                    0.34543771494449493
+                ]
+            ]
+        ],
+        "count": [
+            4625
+        ],
+        "q01": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0032932697403285634
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.016524006359300472
+                ]
+            ],
+            [
+                [
+                    0.0006511923688394276
+                ]
+            ],
+            [
+                [
+                    0.03137848436671965
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5978276629570747
+                ]
+            ],
+            [
+                [
+                    0.5568788553259142
+                ]
+            ],
+            [
+                [
+                    0.5427688394276629
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.983977106518283
+                ]
+            ],
+            [
+                [
+                    0.9885608903020667
+                ]
+            ],
+            [
+                [
+                    0.9589748807631162
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_wrist": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.566867300387181
+                ]
+            ],
+            [
+                [
+                    0.5328060450435591
+                ]
+            ],
+            [
+                [
+                    0.5302491323552535
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.3555307275586673
+                ]
+            ],
+            [
+                [
+                    0.3564461679321242
+                ]
+            ],
+            [
+                [
+                    0.3345736782624148
+                ]
+            ]
+        ],
+        "count": [
+            4625
+        ],
+        "q01": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.004912771595124535
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.030414414414414413
+                ]
+            ],
+            [
+                [
+                    0.010115527291997878
+                ]
+            ],
+            [
+                [
+                    0.05087440381558028
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.7296720720720721
+                ]
+            ],
+            [
+                [
+                    0.679820243773185
+                ]
+            ],
+            [
+                [
+                    0.6605871754107048
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.9461596184419716
+                ]
+            ],
+            [
+                [
+                    0.9238774774774775
+                ]
+            ],
+            [
+                [
+                    0.8981121356650766
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/meta/tasks.parquet b/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..242d12b58e51075e4d8649b315322959c0e25034
--- /dev/null
+++ b/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b52487c723da988038198bbdf6ee0770c3a5463451d4b9146390bafba651199c
+size 2798
diff --git a/meta/waypoints.json b/meta/waypoints.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7e45e74a05c39ab527f6e069f1b867b5a9d757
--- /dev/null
+++ b/meta/waypoints.json
@@ -0,0 +1,194 @@
+{
+  "schema_version": 1,
+  "robot_id": "g1d-01",
+  "state_keys": [
+    "left_shoulder_pitch.pos",
+    "left_shoulder_roll.pos",
+    "left_shoulder_yaw.pos",
+    "left_elbow.pos",
+    "left_wrist_roll.pos",
+    "left_wrist_pitch.pos",
+    "left_wrist_yaw.pos",
+    "right_shoulder_pitch.pos",
+    "right_shoulder_roll.pos",
+    "right_shoulder_yaw.pos",
+    "right_elbow.pos",
+    "right_wrist_roll.pos",
+    "right_wrist_pitch.pos",
+    "right_wrist_yaw.pos",
+    "left_thumb.pos",
+    "left_thumb_aux.pos",
+    "left_index.pos",
+    "left_middle.pos",
+    "left_ring.pos",
+    "left_pinky.pos",
+    "right_thumb.pos",
+    "right_thumb_aux.pos",
+    "right_index.pos",
+    "right_middle.pos",
+    "right_ring.pos",
+    "right_pinky.pos"
+  ],
+  "defaults": {
+    "arm_tol_rad": 0.15,
+    "hand_tol_rad": 0.3,
+    "dwell_s": 0.75
+  },
+  "waypoints": {
+    "W0": {
+      "meaning": "start pose before S1",
+      "positions": [
+        0.130773,
+        0.05221,
+        0.093165,
+        -0.108305,
+        0.006976,
+        -0.313215,
+        0.01697,
+        -0.07144,
+        -0.021683,
+        -0.037159,
+        0.105219,
+        0.003257,
+        -0.265167,
+        0.00268,
+        0.02512,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0157,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "W1": {
+      "meaning": "after S1: open the lid with the left hand while steadying the box with the right hand, then fold the lid fully upright",
+      "positions": [
+        0.05804,
+        0.011765,
+        0.104923,
+        -0.06187,
+        -0.033283,
+        -0.178266,
+        0.021493,
+        -0.069201,
+        -0.030565,
+        -0.055589,
+        0.11728,
+        -0.068075,
+        -0.215468,
+        -0.070183,
+        0.03297,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0157,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "W2": {
+      "meaning": "after S2: pick up the tied cable with the right hand and put it inside the open box",
+      "positions": [
+        0.141161,
+        0.330795,
+        -0.314975,
+        -0.138469,
+        0.889833,
+        -0.053614,
+        0.168927,
+        -0.075377,
+        0.011388,
+        -0.116025,
+        0.107803,
+        0.13593,
+        -0.190146,
+        0.059807,
+        0.05181,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.00314,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "W3": {
+      "meaning": "after S3: steady the box with the left hand and lower the lid over the box opening with the right hand",
+      "positions": [
+        0.091745,
+        0.055645,
+        0.066314,
+        -0.030886,
+        0.087975,
+        -0.413993,
+        0.060673,
+        -0.104457,
+        -0.027857,
+        -0.00291,
+        0.112138,
+        -0.133457,
+        -0.238184,
+        -0.090041,
+        0.0157,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.00628,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "W4": {
+      "meaning": "after S4: tuck the front lip of the lid into the box and press the lid closed, and retract both arms to home",
+      "positions": [
+        0.116452,
+        0.052425,
+        0.082937,
+        -0.070832,
+        0.027143,
+        -0.345758,
+        0.099041,
+        -0.164736,
+        -0.098298,
+        -0.062799,
+        0.231657,
+        -0.01155,
+        -0.323136,
+        -0.047804,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.00157,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  }
+}
diff --git a/videos/observation.images.head/chunk-000/file-000.mp4 b/videos/observation.images.head/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c3fc3d1b829d5f10ecba6660e7bb1ece09f8a8e
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc338b1fecb29bc1ee0db24d0e59eb4df878c4b15814bbc5a0daa34b9f8bb53
+size 80684838
diff --git a/videos/observation.images.head/chunk-000/file-001.mp4 b/videos/observation.images.head/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d74a54019611fa486f09fcdd82e53d1284eeb968
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c8cfdf754ad2b641e76a67547e767e7a4bcd01561dd898a1becc02cce75017
+size 197985626
diff --git a/videos/observation.images.head/chunk-000/file-002.mp4 b/videos/observation.images.head/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f7b4f352666597bc36f16d3efde167b5f005a90
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3003fc20e76ecdb20bc8efd136eace4d190b1f3ddd7a18c52bf77b4235d9de2d
+size 159457920
diff --git a/videos/observation.images.head/chunk-000/file-003.mp4 b/videos/observation.images.head/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa1e21c1a98d24fefa96896827f3c8f496ccacbd
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c23a3a6a7bc0d71018531f65e9162ff0827c70a10f74799b3056db58527be37
+size 146573888
diff --git a/videos/observation.images.head/chunk-000/file-004.mp4 b/videos/observation.images.head/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f4c39de05bfb80e3141c18ed976dd45bfd9d112
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f786cec609fdd101841e4237816fb99faee3974b806d04b86d4860ea41bdda70
+size 118221150
diff --git a/videos/observation.images.head/chunk-000/file-005.mp4 b/videos/observation.images.head/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6de25efa0694d3ba76da6e66ae66448d904611f8
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef79fa3343541ad9a40ff9425627bf715ad007c5eebcfbaaea73035f67caaa2f
+size 125328819
diff --git a/videos/observation.images.head/chunk-000/file-006.mp4 b/videos/observation.images.head/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d917a51b55f610f66d3a7a57f6fd3f6f1c4d8dd8
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36db8d3f70deda4963ea46e8636eb1bd7f5996250f1d12b2426d28f706b0b7a6
+size 194325009
diff --git a/videos/observation.images.head/chunk-000/file-007.mp4 b/videos/observation.images.head/chunk-000/file-007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58b3db39df140899434ac1b3331fed762d0b6d14
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3bbd895c120d92db39939e52ab6cf780c5c5977ee25b458f5d920ee3a3e4c1
+size 76444303
diff --git a/videos/observation.images.head/chunk-000/file-008.mp4 b/videos/observation.images.head/chunk-000/file-008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67ff969c4b33309c3984f2e3b051abec9be8ab74
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5737cebe8bb57dac2357e0f3b9a7fa84fbd07f6c11c97e5e644e183a8e247b78
+size 132446871
diff --git a/videos/observation.images.head/chunk-000/file-009.mp4 b/videos/observation.images.head/chunk-000/file-009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec1f91b188110d6332f9507ab74ce76454a3adbd
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd4d9856af1658f388bb20474213c376000f4ff88f703e4ebd8f275c225f912
+size 135665448
diff --git a/videos/observation.images.head/chunk-000/file-010.mp4 b/videos/observation.images.head/chunk-000/file-010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f37328086734ebb6dece244608d7989b60e5842d
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d697ad13c6fb5617e43b3a1ce5e7ab6568bfb12016a4f065d171ca2a5fbd799b
+size 145240633
diff --git a/videos/observation.images.head/chunk-000/file-011.mp4 b/videos/observation.images.head/chunk-000/file-011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95df59b923cbcf6b1c4457dc2acba77b0d359152
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eb16774c917287377db59be4ee84b9c8d5adeb8385c97a1fe6bcf427f7b60e9
+size 156788429
diff --git a/videos/observation.images.head/chunk-000/file-012.mp4 b/videos/observation.images.head/chunk-000/file-012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd8583ba4534f5514ceaf114b7992bee8be46d2a
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75238199b7e13a212000bd999ef521c3f20735f224395813f801154089c4cdc
+size 140978093
diff --git a/videos/observation.images.head/chunk-000/file-013.mp4 b/videos/observation.images.head/chunk-000/file-013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac13d9fcaaa20dfa07e7302ff49d51d00bcbf559
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442d11da1961104e0203585bb921e018be92735bdeb318b92c725417e78ed9b1
+size 140283422
diff --git a/videos/observation.images.head/chunk-000/file-014.mp4 b/videos/observation.images.head/chunk-000/file-014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24ce8e84273f1aacceb21d3bdb4b0887ee38a48a
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718e88f6f646e164f43166b4acd4cf02ff9cdd108d1fe2bd0c8e81c90e4c084c
+size 127609490
diff --git a/videos/observation.images.head/chunk-000/file-015.mp4 b/videos/observation.images.head/chunk-000/file-015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f5824b083fd2d7c0fe96c9025a18d073cf226d0
--- /dev/null
+++ b/videos/observation.images.head/chunk-000/file-015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef829c5da5ee5e7aa9605f0ec37fee9082b46f6848332ed6a49f646b3299ba5
+size 141529704
diff --git a/videos/observation.images.left_wrist/chunk-000/file-000.mp4 b/videos/observation.images.left_wrist/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83005b8d151cbea8c8be77395628429523efcdf2
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e31bc737e0d900337339bc51aaf55eeb29cb7bd1d4555ed3af29b375daba92
+size 36998006
diff --git a/videos/observation.images.left_wrist/chunk-000/file-001.mp4 b/videos/observation.images.left_wrist/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1c27287db6cebdd52c8c302522b271971df2305
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed603c7039f806c3f9322f83f7bcda9817f8d113718152817a29c704865daf3b
+size 81606651
diff --git a/videos/observation.images.left_wrist/chunk-000/file-002.mp4 b/videos/observation.images.left_wrist/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4427869d096809068bbcf1d2df886c2e6b4b5b6e
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a4e7a69fdd290053f4a4a88d88bffe6c25c7e206d93ddf3c0f36948cbbd628b
+size 67355377
diff --git a/videos/observation.images.left_wrist/chunk-000/file-003.mp4 b/videos/observation.images.left_wrist/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b718651c8886e5af0c62cacbedec6cdd08457900
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a31bce7e792faa600a980156974e79e773f51b8afd65f67b7931832561e6d5
+size 60435110
diff --git a/videos/observation.images.left_wrist/chunk-000/file-004.mp4 b/videos/observation.images.left_wrist/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed063a0ca8049c8767f2502cd77ce2cc31d71670
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32652962832ce35dbe3567011d101fee0e6eb03146a663c60fd5aa50c19c3967
+size 48317010
diff --git a/videos/observation.images.left_wrist/chunk-000/file-005.mp4 b/videos/observation.images.left_wrist/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c278ea94e799c36dbd8ffa1c78fe1f5234c614f
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa48b403e91505dacf787a248765b6bfb193664b7a877b8279f28fbb77594d75
+size 54695087
diff --git a/videos/observation.images.left_wrist/chunk-000/file-006.mp4 b/videos/observation.images.left_wrist/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c9b96a394d32a3b4070a75154f894cf7d22ad5b
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e6a92d6cfb50d7115fe8a3d863a8e876eb116b13c420c7b73af3efe7d5775a
+size 85321469
diff --git a/videos/observation.images.left_wrist/chunk-000/file-007.mp4 b/videos/observation.images.left_wrist/chunk-000/file-007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a3a63736e2580b52d2d083929d91a4e4864e92b
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d570ec76866f0cd0e80b0bedcc4093877833096a56327513af63f4d50ab958
+size 33982024
diff --git a/videos/observation.images.left_wrist/chunk-000/file-008.mp4 b/videos/observation.images.left_wrist/chunk-000/file-008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11ae12d702232caee19e7a04e1ce841a2a20ba2e
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395dcb58a139df9d04bda3ad258af70115fa7d66f99299d3097ceffbd246e7c7
+size 57013441
diff --git a/videos/observation.images.left_wrist/chunk-000/file-009.mp4 b/videos/observation.images.left_wrist/chunk-000/file-009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..106c39aff9232a9f09bbbbd7a93d6f3783edb184
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cc4aed25650d2946bb61005143a21249521610c700047baae6fbacca7fcdfc
+size 58473143
diff --git a/videos/observation.images.left_wrist/chunk-000/file-010.mp4 b/videos/observation.images.left_wrist/chunk-000/file-010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a290f75da7c229a76119f3f0fea0b1fb47cfa345
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0298ddc043d7a84a67f2e17d30df87e935a5360ef9e0e5ef12f5b3132e9ae3a
+size 63028845
diff --git a/videos/observation.images.left_wrist/chunk-000/file-011.mp4 b/videos/observation.images.left_wrist/chunk-000/file-011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3906ce80296015cc0c3eddc68677a9e433a1345e
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef3e318f0ec3755db000c2e7b8e093861029b3f68bb945db935202260473595
+size 67189939
diff --git a/videos/observation.images.left_wrist/chunk-000/file-012.mp4 b/videos/observation.images.left_wrist/chunk-000/file-012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cabdb6be9c0761f77cf958a5234cd8cbf57afebe
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f683bba150672c64f5044d559b9378f618c9c891eff9f2715ebf9eb43ed4b57e
+size 58681826
diff --git a/videos/observation.images.left_wrist/chunk-000/file-013.mp4 b/videos/observation.images.left_wrist/chunk-000/file-013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1013ea96594a1c9e2b9f3f7502c4cdbbc5bb62d4
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da56c40ad01b6e8632405db345886ca17623d77a3853a82c014f00805266a4d
+size 60447295
diff --git a/videos/observation.images.left_wrist/chunk-000/file-014.mp4 b/videos/observation.images.left_wrist/chunk-000/file-014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec15f108609e771accd8b0ef4f1e99b36277270b
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc00da69396be702f05a514a933e1712bd62e2036a62d6d6806ea684a5969f7
+size 53540118
diff --git a/videos/observation.images.left_wrist/chunk-000/file-015.mp4 b/videos/observation.images.left_wrist/chunk-000/file-015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1424468b1f96d353480d1cf2f323c6f42e493d6
--- /dev/null
+++ b/videos/observation.images.left_wrist/chunk-000/file-015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638b64bc03131991acf702894dc75f1ba319d8542ee1e65e92b6d06c9768938c
+size 58426763
diff --git a/videos/observation.images.right_wrist/chunk-000/file-000.mp4 b/videos/observation.images.right_wrist/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c32a95ee36afaedfb2f0a8769f40c98cad845582
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dfe2f52166e17e25b7c39a094e8226f4ebac8446b77bf5e44e4ef1d445161af
+size 31895429
diff --git a/videos/observation.images.right_wrist/chunk-000/file-001.mp4 b/videos/observation.images.right_wrist/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98f4de4cabd375a34fe6ff99e65b62079ffc037b
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc203bf1521e64062ea5cd481a23b62c41a48fb63833ec79814c3ffb3ebdf2c2
+size 79077331
diff --git a/videos/observation.images.right_wrist/chunk-000/file-002.mp4 b/videos/observation.images.right_wrist/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc9e91b43ec6a948fac9735a4ed19709f75e6239
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8286f588e242ce5459000e545a94cdb771819e186f92f37a47be171405bce0
+size 65980330
diff --git a/videos/observation.images.right_wrist/chunk-000/file-003.mp4 b/videos/observation.images.right_wrist/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f18c6ac430a2a49afd51323394ce7cff45c682cd
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e96e82abba7d2c9a6156064ca39be0ba04619d7bf81f90007463dafb7c7507
+size 59925730
diff --git a/videos/observation.images.right_wrist/chunk-000/file-004.mp4 b/videos/observation.images.right_wrist/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bdecf077ebdc64c9af78a30eebd9fa56510453f
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3c35c7906724826b61e16bc7457cb3fdad575438ff63eeb8f0dc4482bbcd7b
+size 45623730
diff --git a/videos/observation.images.right_wrist/chunk-000/file-005.mp4 b/videos/observation.images.right_wrist/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8b13956beafb86b06e47525c7b0208f26ff7b77
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:854bae4121d1bbe9be5804b3e1221ceaaefc2904dad76f34499b26f90cffd167
+size 52031875
diff --git a/videos/observation.images.right_wrist/chunk-000/file-006.mp4 b/videos/observation.images.right_wrist/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c2ad320e940e322d8a678b3037a2b21e553df5b
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7947805662c990383dac76730771d2b8c06d20ba20e901cdc944947c60798e8
+size 82464078
diff --git a/videos/observation.images.right_wrist/chunk-000/file-007.mp4 b/videos/observation.images.right_wrist/chunk-000/file-007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21b664174623c853c800525896fcfebe3df9cf8c
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af72219862b372797e405625527d3426e80e08c9cda8e1a05a4d9b1b1c4090e9
+size 32227211
diff --git a/videos/observation.images.right_wrist/chunk-000/file-008.mp4 b/videos/observation.images.right_wrist/chunk-000/file-008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f147af9e57468320d4ae0bc40978ae3e20ea514c
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30eb3bfa0ebe56920c9ee37f9f9719054b9f3218a610bf5d1fc4f8d8277e7c34
+size 56397029
diff --git a/videos/observation.images.right_wrist/chunk-000/file-009.mp4 b/videos/observation.images.right_wrist/chunk-000/file-009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a945024ef294a2a68751f1782a8323df74b245a3
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e9644e545c2b7d75f9a10a277d8c2a540e4aaed53079989a4354de4d8c3867
+size 57727118
diff --git a/videos/observation.images.right_wrist/chunk-000/file-010.mp4 b/videos/observation.images.right_wrist/chunk-000/file-010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f633e79957f3f4e89641eff1212300680e7509
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2a872389acb2952006e6328d1443733e359d5df0e16b6b5497e51e32e5ef8e5
+size 59888839
diff --git a/videos/observation.images.right_wrist/chunk-000/file-011.mp4 b/videos/observation.images.right_wrist/chunk-000/file-011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0f9fe3a0c0ec7f698422909a72754dabbde98c8
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8783287d2ea13a9a6b5acda9046a14adebdbf38e78ee9f6c905d30f93747a73d
+size 66174256
diff --git a/videos/observation.images.right_wrist/chunk-000/file-012.mp4 b/videos/observation.images.right_wrist/chunk-000/file-012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f26fa5c0f4863d6687f037ae8323a8eacadc64c8
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e22bda6c6b1a6899fda81b7d4f20a0793a25649fcad3859c9471ef29d06626
+size 58413496
diff --git a/videos/observation.images.right_wrist/chunk-000/file-013.mp4 b/videos/observation.images.right_wrist/chunk-000/file-013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01edb1b08e52aee78b4f396067869f6d8756e8e8
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87bf3541f7596694e0a4d5731489040bd377399de46a7c1333a0c6270db3375
+size 57742812
diff --git a/videos/observation.images.right_wrist/chunk-000/file-014.mp4 b/videos/observation.images.right_wrist/chunk-000/file-014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b693ba4d1cc60cf4139484a5811d2a8d87511b88
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7798739ca7f06f780be52e7b074368545c705fb9837b256898d776af94e18083
+size 53232999
diff --git a/videos/observation.images.right_wrist/chunk-000/file-015.mp4 b/videos/observation.images.right_wrist/chunk-000/file-015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27850d43ada27d596cf7e42917fca3c679f54c17
--- /dev/null
+++ b/videos/observation.images.right_wrist/chunk-000/file-015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:959f22070fa99c5de442ef7b02695f78fdc87a3cfc33faebf0ba2ae52b24cfae
+size 57093997