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diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/dataset_metadata.json b/Simulation/GelSight_mini/insert_block_v2/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..75218accb2fa758ec01afd0fa18c9a2a2e6b2342
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v2/meta/dataset_metadata.json
@@ -0,0 +1,43 @@
+{
+  "batch_key": "insert_block_v2",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_block_v2",
+  "source_variants": [
+    "cube",
+    "half_cylinder",
+    "hexagon"
+  ],
+  "instructions": [
+    "Insert the blue cube into the matching hole in the yellow box.",
+    "Insert the blue half cylinder into the matching hole in the yellow box.",
+    "Insert the red hexagonal prism into the matching hole in the yellow box."
+  ],
+  "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": 300,
+  "frames": 78107
+}
diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/episodes.jsonl b/Simulation/GelSight_mini/insert_block_v2/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f680c4e9a9d8dc0b6ca54d2b6fe7548efe3f589
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v2/meta/episodes.jsonl
@@ -0,0 +1,300 @@
+{"episode_index": 0, "tasks": ["Insert the blue cube into the matching hole in the yellow box."], "length": 239}
+{"episode_index": 1, "tasks": ["Insert the blue cube into the matching hole in the yellow box."], "length": 235}
+{"episode_index": 2, "tasks": ["Insert the blue cube into the matching hole in the yellow box."], "length": 238}
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diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/insert_block_v2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..918b46643eb840552191209acb0f343993e4db2d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v2/meta/episodes_stats.jsonl
@@ -0,0 +1,300 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..2b70898fbb44a409e665e16bd758eb05e32e187d
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diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/stats.json b/Simulation/GelSight_mini/insert_block_v2/meta/stats.json
new file mode 100644
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diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/tasks.jsonl b/Simulation/GelSight_mini/insert_block_v2/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..552f9b72b0c15fdfe7878d781ccd90ba29c9a832
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v2/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "Insert the blue cube into the matching hole in the yellow box."}
+{"task_index": 1, "task": "Insert the blue half cylinder into the matching hole in the yellow box."}
+{"task_index": 2, "task": "Insert the red hexagonal prism into the matching hole in the yellow box."}
diff --git a/Simulation/GelSight_mini/insert_block_v2/meta/video_validation.json b/Simulation/GelSight_mini/insert_block_v2/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..9872695542366524fbf21170144917887e405574
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v2/meta/video_validation.json
@@ -0,0 +1,8402 @@
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