diff --git a/collect_three_glues/meta/episodes.jsonl b/collect_three_glues/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fd3a63a238a0ebe5a1e80cac19930b24850d11d
--- /dev/null
+++ b/collect_three_glues/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1344}
+{"episode_index": 1, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and yellow-red glue with white cap in the blue basket."], "length": 1374}
+{"episode_index": 2, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1350}
+{"episode_index": 3, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1347}
+{"episode_index": 4, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1360}
+{"episode_index": 5, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1339}
+{"episode_index": 6, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1361}
+{"episode_index": 7, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1353}
+{"episode_index": 8, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1358}
+{"episode_index": 9, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1367}
+{"episode_index": 10, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1368}
+{"episode_index": 11, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1354}
+{"episode_index": 12, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1360}
+{"episode_index": 13, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1359}
+{"episode_index": 14, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1367}
+{"episode_index": 15, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1327}
+{"episode_index": 16, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1340}
+{"episode_index": 17, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1360}
+{"episode_index": 18, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1353}
+{"episode_index": 19, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1384}
+{"episode_index": 20, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and yellow glue with nozzle in the blue basket."], "length": 1357}
+{"episode_index": 21, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and yellow glue with nozzle in the blue basket."], "length": 1354}
+{"episode_index": 22, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1356}
+{"episode_index": 23, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1365}
+{"episode_index": 24, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1359}
+{"episode_index": 25, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1393}
+{"episode_index": 26, "tasks": ["Collect white school glue with orange cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1350}
+{"episode_index": 27, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1366}
+{"episode_index": 28, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1336}
+{"episode_index": 29, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1383}
+{"episode_index": 30, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1344}
+{"episode_index": 31, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1357}
+{"episode_index": 32, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1370}
+{"episode_index": 33, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1361}
+{"episode_index": 34, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1374}
+{"episode_index": 35, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1360}
+{"episode_index": 36, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1355}
+{"episode_index": 37, "tasks": ["Collect white school glue with orange cap, yellow glue with nozzle and yellow-red glue with white cap in the blue basket."], "length": 1363}
+{"episode_index": 38, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1343}
+{"episode_index": 39, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1335}
+{"episode_index": 40, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1340}
+{"episode_index": 41, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1372}
+{"episode_index": 42, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1380}
+{"episode_index": 43, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1352}
+{"episode_index": 44, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1341}
+{"episode_index": 45, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1346}
+{"episode_index": 46, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1340}
+{"episode_index": 47, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1347}
+{"episode_index": 48, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1352}
+{"episode_index": 49, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1385}
+{"episode_index": 50, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1348}
+{"episode_index": 51, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1386}
+{"episode_index": 52, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1375}
+{"episode_index": 53, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1346}
+{"episode_index": 54, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1364}
+{"episode_index": 55, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1355}
+{"episode_index": 56, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1353}
+{"episode_index": 57, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1352}
+{"episode_index": 58, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1357}
+{"episode_index": 59, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1349}
+{"episode_index": 60, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow glue with nozzle in the blue basket."], "length": 1364}
+{"episode_index": 61, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1366}
+{"episode_index": 62, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1369}
+{"episode_index": 63, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1348}
+{"episode_index": 64, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1324}
+{"episode_index": 65, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1355}
+{"episode_index": 66, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1357}
+{"episode_index": 67, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and yellow glue with nozzle in the blue basket."], "length": 1377}
+{"episode_index": 68, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1360}
+{"episode_index": 69, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1325}
+{"episode_index": 70, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1350}
+{"episode_index": 71, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1355}
+{"episode_index": 72, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1365}
+{"episode_index": 73, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1359}
+{"episode_index": 74, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1361}
+{"episode_index": 75, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1338}
+{"episode_index": 76, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1363}
+{"episode_index": 77, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1321}
+{"episode_index": 78, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1358}
+{"episode_index": 79, "tasks": ["Collect yellow glue with nozzle, white school glue with orange cap and white glue with green cap in the blue basket."], "length": 1368}
+{"episode_index": 80, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1337}
+{"episode_index": 81, "tasks": ["Collect yellow-red glue with white cap, white glue with green cap and white school glue with orange cap in the blue basket."], "length": 1347}
+{"episode_index": 82, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1331}
+{"episode_index": 83, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1347}
+{"episode_index": 84, "tasks": ["Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1351}
+{"episode_index": 85, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1346}
+{"episode_index": 86, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1329}
+{"episode_index": 87, "tasks": ["Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."], "length": 1363}
+{"episode_index": 88, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1349}
+{"episode_index": 89, "tasks": ["Collect white school glue with orange cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1364}
+{"episode_index": 90, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."], "length": 1364}
+{"episode_index": 91, "tasks": ["Collect white school glue with orange cap, white glue with green cap and yellow glue with nozzle in the blue basket."], "length": 1365}
+{"episode_index": 92, "tasks": ["Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."], "length": 1350}
+{"episode_index": 93, "tasks": ["Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."], "length": 1339}
+{"episode_index": 94, "tasks": ["Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."], "length": 1389}
+{"episode_index": 95, "tasks": ["Collect yellow glue with nozzle, white glue with green cap and yellow-red glue with white cap in the blue basket."], "length": 1344}
+{"episode_index": 96, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1356}
+{"episode_index": 97, "tasks": ["Collect white school glue with orange cap, yellow glue with nozzle and yellow-red glue with white cap in the blue basket."], "length": 1365}
+{"episode_index": 98, "tasks": ["Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."], "length": 1356}
+{"episode_index": 99, "tasks": ["Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."], "length": 1329}
diff --git a/collect_three_glues/meta/episodes_stats.jsonl b/collect_three_glues/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc15c8663c99f456e8ee8184a36699245a2b13e3
--- /dev/null
+++ b/collect_three_glues/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/collect_three_glues/meta/info.json b/collect_three_glues/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f2c30f6cd120277eb2b84948a4a23dd4bfd93dd
--- /dev/null
+++ b/collect_three_glues/meta/info.json
@@ -0,0 +1,172 @@
+{
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+                16
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1",
+                    "gripper_2"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/collect_three_glues/meta/modality.json b/collect_three_glues/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/collect_three_glues/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 13,
+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 14,
+            "original_key": "state.joints"
+        },
+        "right_gripper": {
+            "start": 14,
+            "end": 16,
+            "original_key": "state.joints"
+        }
+    },
+    "video": {
+        "top_camera": {
+            "original_key": "video.top_camera_view"
+        },
+        "left_camera": {
+            "original_key": "video.left_camera_view"
+        },
+        "right_camera": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/collect_three_glues/meta/tasks.jsonl b/collect_three_glues/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..62f17d56a138fd3800b5f78d897c35fba7a461f4
--- /dev/null
+++ b/collect_three_glues/meta/tasks.jsonl
@@ -0,0 +1,24 @@
+{"task_index": 0, "task": "Collect yellow-red glue with white cap, white school glue with orange cap and white glue with green cap in the blue basket."}
+{"task_index": 1, "task": "Collect white glue with green cap, yellow glue with nozzle and yellow-red glue with white cap in the blue basket."}
+{"task_index": 2, "task": "Collect white glue with green cap, yellow-red glue with white cap and white school glue with orange cap in the blue basket."}
+{"task_index": 3, "task": "Collect white glue with green cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."}
+{"task_index": 4, "task": "Collect yellow glue with nozzle, white glue with green cap and white school glue with orange cap in the blue basket."}
+{"task_index": 5, "task": "Collect yellow glue with nozzle, yellow-red glue with white cap and white glue with green cap in the blue basket."}
+{"task_index": 6, "task": "Collect yellow-red glue with white cap, white glue with green cap and white school glue with orange cap in the blue basket."}
+{"task_index": 7, "task": "Collect white school glue with orange cap, yellow-red glue with white cap and yellow glue with nozzle in the blue basket."}
+{"task_index": 8, "task": "Collect yellow-red glue with white cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."}
+{"task_index": 9, "task": "Collect white glue with green cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."}
+{"task_index": 10, "task": "Collect yellow glue with nozzle, white glue with green cap and yellow-red glue with white cap in the blue basket."}
+{"task_index": 11, "task": "Collect yellow glue with nozzle, white school glue with orange cap and white glue with green cap in the blue basket."}
+{"task_index": 12, "task": "Collect yellow-red glue with white cap, yellow glue with nozzle and white school glue with orange cap in the blue basket."}
+{"task_index": 13, "task": "Collect white school glue with orange cap, white glue with green cap and yellow-red glue with white cap in the blue basket."}
+{"task_index": 14, "task": "Collect yellow-red glue with white cap, white glue with green cap and yellow glue with nozzle in the blue basket."}
+{"task_index": 15, "task": "Collect yellow glue with nozzle, white school glue with orange cap and yellow-red glue with white cap in the blue basket."}
+{"task_index": 16, "task": "Collect yellow glue with nozzle, yellow-red glue with white cap and white school glue with orange cap in the blue basket."}
+{"task_index": 17, "task": "Collect white school glue with orange cap, yellow glue with nozzle and white glue with green cap in the blue basket."}
+{"task_index": 18, "task": "Collect white glue with green cap, white school glue with orange cap and yellow glue with nozzle in the blue basket."}
+{"task_index": 19, "task": "Collect yellow-red glue with white cap, yellow glue with nozzle and white glue with green cap in the blue basket."}
+{"task_index": 20, "task": "Collect white school glue with orange cap, yellow glue with nozzle and yellow-red glue with white cap in the blue basket."}
+{"task_index": 21, "task": "Collect white glue with green cap, white school glue with orange cap and yellow-red glue with white cap in the blue basket."}
+{"task_index": 22, "task": "Collect white school glue with orange cap, yellow-red glue with white cap and white glue with green cap in the blue basket."}
+{"task_index": 23, "task": "Collect white school glue with orange cap, white glue with green cap and yellow glue with nozzle in the blue basket."}
diff --git a/collect_two_shoes/meta/episodes.jsonl b/collect_two_shoes/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..098bfcee6dad57bd9928e4d2c0b60406534304d9
--- /dev/null
+++ b/collect_two_shoes/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."], "length": 946}
+{"episode_index": 1, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 901}
+{"episode_index": 2, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 906}
+{"episode_index": 3, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 924}
+{"episode_index": 4, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 925}
+{"episode_index": 5, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 921}
+{"episode_index": 6, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 927}
+{"episode_index": 7, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 925}
+{"episode_index": 8, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 935}
+{"episode_index": 9, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 934}
+{"episode_index": 10, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 901}
+{"episode_index": 11, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 905}
+{"episode_index": 12, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 918}
+{"episode_index": 13, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 924}
+{"episode_index": 14, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 929}
+{"episode_index": 15, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 933}
+{"episode_index": 16, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 936}
+{"episode_index": 17, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 909}
+{"episode_index": 18, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 913}
+{"episode_index": 19, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 924}
+{"episode_index": 20, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 934}
+{"episode_index": 21, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 913}
+{"episode_index": 22, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 921}
+{"episode_index": 23, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 907}
+{"episode_index": 24, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 896}
+{"episode_index": 25, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 903}
+{"episode_index": 26, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 923}
+{"episode_index": 27, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 938}
+{"episode_index": 28, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 925}
+{"episode_index": 29, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 941}
+{"episode_index": 30, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 948}
+{"episode_index": 31, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 939}
+{"episode_index": 32, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 920}
+{"episode_index": 33, "tasks": ["Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."], "length": 939}
+{"episode_index": 34, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 907}
+{"episode_index": 35, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 925}
+{"episode_index": 36, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 921}
+{"episode_index": 37, "tasks": ["Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."], "length": 904}
+{"episode_index": 38, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 908}
+{"episode_index": 39, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 942}
+{"episode_index": 40, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 918}
+{"episode_index": 41, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 899}
+{"episode_index": 42, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 909}
+{"episode_index": 43, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 927}
+{"episode_index": 44, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 922}
+{"episode_index": 45, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 943}
+{"episode_index": 46, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 938}
+{"episode_index": 47, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 915}
+{"episode_index": 48, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 914}
+{"episode_index": 49, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 902}
+{"episode_index": 50, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 919}
+{"episode_index": 51, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 930}
+{"episode_index": 52, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 932}
+{"episode_index": 53, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 925}
+{"episode_index": 54, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 942}
+{"episode_index": 55, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 918}
+{"episode_index": 56, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 894}
+{"episode_index": 57, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 922}
+{"episode_index": 58, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 946}
+{"episode_index": 59, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 947}
+{"episode_index": 60, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 923}
+{"episode_index": 61, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 910}
+{"episode_index": 62, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 906}
+{"episode_index": 63, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 898}
+{"episode_index": 64, "tasks": ["Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."], "length": 917}
+{"episode_index": 65, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 914}
+{"episode_index": 66, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 912}
+{"episode_index": 67, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 900}
+{"episode_index": 68, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 936}
+{"episode_index": 69, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 934}
+{"episode_index": 70, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 924}
+{"episode_index": 71, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 950}
+{"episode_index": 72, "tasks": ["Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."], "length": 935}
+{"episode_index": 73, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 924}
+{"episode_index": 74, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 934}
+{"episode_index": 75, "tasks": ["Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."], "length": 909}
+{"episode_index": 76, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 912}
+{"episode_index": 77, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 934}
+{"episode_index": 78, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 918}
+{"episode_index": 79, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 915}
+{"episode_index": 80, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 920}
+{"episode_index": 81, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 916}
+{"episode_index": 82, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 920}
+{"episode_index": 83, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 930}
+{"episode_index": 84, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 912}
+{"episode_index": 85, "tasks": ["Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."], "length": 947}
+{"episode_index": 86, "tasks": ["Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."], "length": 901}
+{"episode_index": 87, "tasks": ["Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."], "length": 921}
+{"episode_index": 88, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 909}
+{"episode_index": 89, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 934}
+{"episode_index": 90, "tasks": ["Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."], "length": 935}
+{"episode_index": 91, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 913}
+{"episode_index": 92, "tasks": ["Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."], "length": 933}
+{"episode_index": 93, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 924}
+{"episode_index": 94, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 931}
+{"episode_index": 95, "tasks": ["Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."], "length": 939}
+{"episode_index": 96, "tasks": ["Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."], "length": 971}
+{"episode_index": 97, "tasks": ["Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."], "length": 911}
+{"episode_index": 98, "tasks": ["Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."], "length": 933}
+{"episode_index": 99, "tasks": ["Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."], "length": 937}
diff --git a/collect_two_shoes/meta/episodes_stats.jsonl b/collect_two_shoes/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b34e5c443e9e1095d382f44c9f432a781276b10
--- /dev/null
+++ b/collect_two_shoes/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/collect_two_shoes/meta/modality.json b/collect_two_shoes/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/collect_two_shoes/meta/modality.json
@@ -0,0 +1,62 @@
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+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 14,
+            "original_key": "state.joints"
+        },
+        "right_gripper": {
+            "start": 14,
+            "end": 16,
+            "original_key": "state.joints"
+        }
+    },
+    "video": {
+        "top_camera": {
+            "original_key": "video.top_camera_view"
+        },
+        "left_camera": {
+            "original_key": "video.left_camera_view"
+        },
+        "right_camera": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/collect_two_shoes/meta/tasks.jsonl b/collect_two_shoes/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..876c602fc25518947f0d117879814981552d15e8
--- /dev/null
+++ b/collect_two_shoes/meta/tasks.jsonl
@@ -0,0 +1,12 @@
+{"task_index": 0, "task": "Collect beige sneaker with color stripes and teal New Balance running shoe on the brown tray."}
+{"task_index": 1, "task": "Collect teal New Balance running shoe and plain white low-top sneaker on the brown tray."}
+{"task_index": 2, "task": "Collect black-white sneaker with curved pattern and teal New Balance running shoe on the brown tray."}
+{"task_index": 3, "task": "Collect black-white sneaker with curved pattern and plain white low-top sneaker on the brown tray."}
+{"task_index": 4, "task": "Collect plain white low-top sneaker and beige sneaker with color stripes on the brown tray."}
+{"task_index": 5, "task": "Collect black-white sneaker with curved pattern and beige sneaker with color stripes on the brown tray."}
+{"task_index": 6, "task": "Collect plain white low-top sneaker and teal New Balance running shoe on the brown tray."}
+{"task_index": 7, "task": "Collect beige sneaker with color stripes and plain white low-top sneaker on the brown tray."}
+{"task_index": 8, "task": "Collect plain white low-top sneaker and black-white sneaker with curved pattern on the brown tray."}
+{"task_index": 9, "task": "Collect teal New Balance running shoe and beige sneaker with color stripes on the brown tray."}
+{"task_index": 10, "task": "Collect beige sneaker with color stripes and black-white sneaker with curved pattern on the brown tray."}
+{"task_index": 11, "task": "Collect teal New Balance running shoe and black-white sneaker with curved pattern on the brown tray."}
diff --git a/make_sandwich/meta/episodes.jsonl b/make_sandwich/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..416ecbd2cea386096c4dc2524195723538711285
--- /dev/null
+++ b/make_sandwich/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Make a meat-only sandwich."], "length": 1420}
+{"episode_index": 1, "tasks": ["Make a vegan sandwich."], "length": 1383}
+{"episode_index": 2, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1927}
+{"episode_index": 3, "tasks": ["Make a vegan sandwich."], "length": 1467}
+{"episode_index": 4, "tasks": ["Make a meat-only sandwich."], "length": 1471}
+{"episode_index": 5, "tasks": ["Make a vegan sandwich."], "length": 1415}
+{"episode_index": 6, "tasks": ["Make a vegan sandwich."], "length": 1421}
+{"episode_index": 7, "tasks": ["Make a meat-only sandwich."], "length": 1398}
+{"episode_index": 8, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1881}
+{"episode_index": 9, "tasks": ["Make a meat-only sandwich."], "length": 1395}
+{"episode_index": 10, "tasks": ["Make a meat-only sandwich."], "length": 1414}
+{"episode_index": 11, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1900}
+{"episode_index": 12, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1894}
+{"episode_index": 13, "tasks": ["Make a vegan sandwich."], "length": 1415}
+{"episode_index": 14, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1871}
+{"episode_index": 15, "tasks": ["Make a vegan sandwich."], "length": 1416}
+{"episode_index": 16, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1944}
+{"episode_index": 17, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1912}
+{"episode_index": 18, "tasks": ["Make a vegan sandwich."], "length": 1417}
+{"episode_index": 19, "tasks": ["Make a meat-only sandwich."], "length": 1448}
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+{"episode_index": 21, "tasks": ["Make a vegan sandwich."], "length": 1417}
+{"episode_index": 22, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1889}
+{"episode_index": 23, "tasks": ["Make a meat-only sandwich."], "length": 1483}
+{"episode_index": 24, "tasks": ["Make a meat-only sandwich."], "length": 1393}
+{"episode_index": 25, "tasks": ["Make a vegan sandwich."], "length": 1452}
+{"episode_index": 26, "tasks": ["Make a meat-only sandwich."], "length": 1417}
+{"episode_index": 27, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1891}
+{"episode_index": 28, "tasks": ["Make a meat-only sandwich."], "length": 1424}
+{"episode_index": 29, "tasks": ["Make a vegan sandwich."], "length": 1423}
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+{"episode_index": 48, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1888}
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+{"episode_index": 84, "tasks": ["Make a meat-only sandwich."], "length": 1399}
+{"episode_index": 85, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1866}
+{"episode_index": 86, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1841}
+{"episode_index": 87, "tasks": ["Make a meat-only sandwich."], "length": 1409}
+{"episode_index": 88, "tasks": ["Make a vegan sandwich."], "length": 1458}
+{"episode_index": 89, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1852}
+{"episode_index": 90, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1874}
+{"episode_index": 91, "tasks": ["Make a vegan sandwich."], "length": 1418}
+{"episode_index": 92, "tasks": ["Make a vegan sandwich."], "length": 1409}
+{"episode_index": 93, "tasks": ["Make a vegan sandwich."], "length": 1421}
+{"episode_index": 94, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1870}
+{"episode_index": 95, "tasks": ["Make a meat-only sandwich."], "length": 1407}
+{"episode_index": 96, "tasks": ["Make a vegan sandwich."], "length": 1432}
+{"episode_index": 97, "tasks": ["Make a vegan sandwich."], "length": 1439}
+{"episode_index": 98, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1880}
+{"episode_index": 99, "tasks": ["Make a mixed sandwich (veggies on top)."], "length": 1866}
diff --git a/make_sandwich/meta/episodes_stats.jsonl b/make_sandwich/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f082cb3df31aad1f1271a40c78590be0b9da64f
--- /dev/null
+++ b/make_sandwich/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/make_sandwich/meta/info.json b/make_sandwich/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fedc753c6f0f737f18392f0f6787c28a6a27d1
--- /dev/null
+++ b/make_sandwich/meta/info.json
@@ -0,0 +1,172 @@
+{
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+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1",
+                    "gripper_2"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/make_sandwich/meta/modality.json b/make_sandwich/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/make_sandwich/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 13,
+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 14,
+            "original_key": "state.joints"
+        },
+        "right_gripper": {
+            "start": 14,
+            "end": 16,
+            "original_key": "state.joints"
+        }
+    },
+    "video": {
+        "top_camera": {
+            "original_key": "video.top_camera_view"
+        },
+        "left_camera": {
+            "original_key": "video.left_camera_view"
+        },
+        "right_camera": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/make_sandwich/meta/tasks.jsonl b/make_sandwich/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23ec80e61758b9e5a65cc4c31eb55051ebe6cccf
--- /dev/null
+++ b/make_sandwich/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "Make a meat-only sandwich."}
+{"task_index": 1, "task": "Make a vegan sandwich."}
+{"task_index": 2, "task": "Make a mixed sandwich (veggies on top)."}
diff --git a/oil_painting_recognition/meta/episodes.jsonl b/oil_painting_recognition/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a57aaba72b37d867d50e76a6977109b1a502afc
--- /dev/null
+++ b/oil_painting_recognition/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Place the brush on the painting of guan yu."], "length": 394}
+{"episode_index": 1, "tasks": ["Place the brush on the painting of monkey king."], "length": 403}
+{"episode_index": 2, "tasks": ["Place the brush on the painting of giant panda."], "length": 394}
+{"episode_index": 3, "tasks": ["Place the brush on the painting of giant panda."], "length": 395}
+{"episode_index": 4, "tasks": ["Place the brush on the painting of giant panda."], "length": 396}
+{"episode_index": 5, "tasks": ["Place the brush on the painting of monkey king."], "length": 394}
+{"episode_index": 6, "tasks": ["Place the brush on the painting of monkey king."], "length": 410}
+{"episode_index": 7, "tasks": ["Place the brush on the painting of giant panda."], "length": 394}
+{"episode_index": 8, "tasks": ["Place the brush on the painting of giant panda."], "length": 407}
+{"episode_index": 9, "tasks": ["Place the brush on the painting of giant panda."], "length": 408}
+{"episode_index": 10, "tasks": ["Place the brush on the painting of lin daiyu."], "length": 388}
+{"episode_index": 11, "tasks": ["Place the brush on the painting of monkey king."], "length": 408}
+{"episode_index": 12, "tasks": ["Place the brush on the painting of lin daiyu."], "length": 388}
+{"episode_index": 13, "tasks": ["Place the brush on the painting of giant panda."], "length": 392}
+{"episode_index": 14, "tasks": ["Place the brush on the painting of giant panda."], "length": 404}
+{"episode_index": 15, "tasks": ["Place the brush on the painting of monkey king."], "length": 409}
+{"episode_index": 16, "tasks": ["Place the brush on the painting of lin daiyu."], "length": 391}
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diff --git a/oil_painting_recognition/meta/episodes_stats.jsonl b/oil_painting_recognition/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c868ede233a04bb22c3e50b055c34c20f31ef33
--- /dev/null
+++ b/oil_painting_recognition/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/oil_painting_recognition/meta/info.json b/oil_painting_recognition/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..206df5d07e028b2796013cf8f11b1641e8e9bfdc
--- /dev/null
+++ b/oil_painting_recognition/meta/info.json
@@ -0,0 +1,172 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "aloha_split",
+    "total_episodes": 100,
+    "total_frames": 40029,
+    "total_tasks": 4,
+    "total_videos": 300,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:100"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1",
+                    "gripper_2"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/oil_painting_recognition/meta/modality.json b/oil_painting_recognition/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/oil_painting_recognition/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 13,
+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 14,
+            "original_key": "state.joints"
+        },
+        "right_gripper": {
+            "start": 14,
+            "end": 16,
+            "original_key": "state.joints"
+        }
+    },
+    "video": {
+        "top_camera": {
+            "original_key": "video.top_camera_view"
+        },
+        "left_camera": {
+            "original_key": "video.left_camera_view"
+        },
+        "right_camera": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/oil_painting_recognition/meta/tasks.jsonl b/oil_painting_recognition/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f34292dba6d8a0842c27c96d53a370ccfdbce87
--- /dev/null
+++ b/oil_painting_recognition/meta/tasks.jsonl
@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "Place the brush on the painting of guan yu."}
+{"task_index": 1, "task": "Place the brush on the painting of monkey king."}
+{"task_index": 2, "task": "Place the brush on the painting of giant panda."}
+{"task_index": 3, "task": "Place the brush on the painting of lin daiyu."}
diff --git a/put_drink_on_basket/meta/episodes.jsonl b/put_drink_on_basket/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a15209e6f04749fd8127791f6f98c16aa073d362
--- /dev/null
+++ b/put_drink_on_basket/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Gather swirled coffee bottle on the white basket."], "length": 363}
+{"episode_index": 1, "tasks": ["Gather frosted bottle with orange cap on the white basket."], "length": 369}
+{"episode_index": 2, "tasks": ["Gather swirled coffee bottle on the white basket."], "length": 350}
+{"episode_index": 3, "tasks": ["Gather yellow bottle with white cap on the white basket."], "length": 355}
+{"episode_index": 4, "tasks": ["Gather yellow bottle with white cap on the white basket."], "length": 348}
+{"episode_index": 5, "tasks": ["Gather frosted bottle with orange cap on the white basket."], "length": 352}
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diff --git a/put_drink_on_basket/meta/episodes_stats.jsonl b/put_drink_on_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f12b8eecbe51f9379bd3e0d2726c3a625b2eb45c
--- /dev/null
+++ b/put_drink_on_basket/meta/episodes_stats.jsonl
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diff --git a/put_drink_on_basket/meta/info.json b/put_drink_on_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a679b328c1bf97b41f16c8347aea0404121985
--- /dev/null
+++ b/put_drink_on_basket/meta/info.json
@@ -0,0 +1,172 @@
+{
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+    "robot_type": "aloha_split",
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+    "total_frames": 35619,
+    "total_tasks": 5,
+    "total_videos": 300,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
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+    "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": {
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+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
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+        },
+        "action.joints": {
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+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
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+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1",
+                    "gripper_2"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
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+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
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+                480,
+                640
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+            "names": [
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+                "height",
+                "width"
+            ],
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+                "video.width": 640,
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+                "video.fps": 15,
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+                "has_audio": false
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+        },
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+                3,
+                480,
+                640
+            ],
+            "names": [
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+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
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+        },
+        "frame_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "episode_index": {
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+        "task_index": {
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+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/put_drink_on_basket/meta/modality.json b/put_drink_on_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/put_drink_on_basket/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
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+            "end": 13,
+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
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+}
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diff --git a/sort_waste/meta/info.json b/sort_waste/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f1c12e0203dd39feafe04034cbe44ace881e24
--- /dev/null
+++ b/sort_waste/meta/info.json
@@ -0,0 +1,172 @@
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+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "gripper_1",
+                    "gripper_2"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/sort_waste/meta/modality.json b/sort_waste/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..163b031d42232eb533ee6ec0e5e62bbe6bff3fe9
--- /dev/null
+++ b/sort_waste/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 13,
+            "original_key": "action.joints"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action.joints"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 12,
+            "end": 14,
+            "original_key": "state.joints"
+        },
+        "right_gripper": {
+            "start": 14,
+            "end": 16,
+            "original_key": "state.joints"
+        }
+    },
+    "video": {
+        "top_camera": {
+            "original_key": "video.top_camera_view"
+        },
+        "left_camera": {
+            "original_key": "video.left_camera_view"
+        },
+        "right_camera": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/sort_waste/meta/tasks.jsonl b/sort_waste/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fbae2ca67dde045def98562784c9a445b1c0ada3
--- /dev/null
+++ b/sort_waste/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Sort harmful batteries to the front bin and harmless drinks to the back bin."}