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diff --git a/Simulation/GelSight_mini/hardness_classify/meta/dataset_metadata.json b/Simulation/GelSight_mini/hardness_classify/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73fcb0830fdc735e6eed8f926f80dce163ae0b0
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/meta/dataset_metadata.json
@@ -0,0 +1,40 @@
+{
+  "batch_key": "hardness_classify",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/hardness_classify",
+  "source_variants": [
+    "hard",
+    "soft"
+  ],
+  "instructions": [
+    "Classify the block hardness by touch: place the soft red block on the blue plate and the hard red block on the yellow plate."
+  ],
+  "robot": "Franka",
+  "tactile_sensor": "GelSight_mini_simulated",
+  "fps": 60,
+  "fps_basis": "120 Hz simulation, nominal source step interval 2",
+  "source_step_gap_policy": "timestamps use frame_index / 60; source step exceptions are retained in conversion_manifest.jsonl",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "finger_position_units": "metres",
+  "gripper_width_m": "left_finger_m + right_finger_m",
+  "gripper_open_fraction": "clip((left_finger_m + right_finger_m) / 0.08, 0, 1); 0 closed, 1 fully open",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue before video encoding and image statistics",
+  "image_sources": {
+    "observation.images.head": "observation/head/rgb",
+    "observation.images.wrist": "observation/wrist/rgb",
+    "observation.images.tactile_left": "tactile/left_tactile/rgb_marker",
+    "observation.images.tactile_right": "tactile/right_tactile/rgb_marker"
+  },
+  "image_statistics": "LeRobot v2.1 sampling policy applied to decoded, channel-corrected HDF5 images",
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 14062
+}
diff --git a/Simulation/GelSight_mini/hardness_classify/meta/episodes.jsonl b/Simulation/GelSight_mini/hardness_classify/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..331c93568e5d5a5d17c4ab3f38da2ec334ded3f6
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Classify the block hardness by touch: place the soft red block on the blue plate and the hard red block on the yellow plate."], "length": 136}
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diff --git a/Simulation/GelSight_mini/hardness_classify/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/hardness_classify/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b076b14bc648f097bb913252c078362a4f577891
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/Simulation/GelSight_mini/hardness_classify/meta/info.json b/Simulation/GelSight_mini/hardness_classify/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9606a684f20c7797cd795cb937c17c59adc619f8
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/meta/info.json
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+}
\ No newline at end of file
diff --git a/Simulation/GelSight_mini/hardness_classify/meta/stats.json b/Simulation/GelSight_mini/hardness_classify/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..33938640302c912f439baa8a8c9193ba32b3756a
--- /dev/null
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diff --git a/Simulation/GelSight_mini/hardness_classify/meta/tasks.jsonl b/Simulation/GelSight_mini/hardness_classify/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c41ee542d4dd5a47e3662e74fe37f1f8f3b710fe
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Classify the block hardness by touch: place the soft red block on the blue plate and the hard red block on the yellow plate."}
diff --git a/Simulation/GelSight_mini/hardness_classify/meta/video_validation.json b/Simulation/GelSight_mini/hardness_classify/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..439b323b7f7dfdf826750b315a4206cc53eac235
--- /dev/null
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