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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..766e3f852145eca361ff29e1a571b28305c4778d
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,106 @@
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+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "state"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "action"
+            ]
+        },
+        "obj_init": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "obj_init"
+            ]
+        },
+        "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/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b92ac3ef8f2dcd462e7c8322fa0ae07836f932d8
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1,40 @@
+{"task_index": 0, "task": "pick the cake from the counter and place it in the cabinet"}
+{"task_index": 1, "task": "pick the soap dispenser from the counter and place it in the cabinet"}
+{"task_index": 2, "task": "pick the bowl from the counter and place it in the cabinet"}
+{"task_index": 3, "task": "pick the broccoli from the counter and place it in the cabinet"}
+{"task_index": 4, "task": "pick the bar soap from the counter and place it in the cabinet"}
+{"task_index": 5, "task": "pick the candle from the counter and place it in the cabinet"}
+{"task_index": 6, "task": "pick the onion from the counter and place it in the cabinet"}
+{"task_index": 7, "task": "pick the liquor from the counter and place it in the cabinet"}
+{"task_index": 8, "task": "pick the shaker from the counter and place it in the cabinet"}
+{"task_index": 9, "task": "pick the hot dog from the counter and place it in the cabinet"}
+{"task_index": 10, "task": "pick the carrot from the counter and place it in the cabinet"}
+{"task_index": 11, "task": "pick the avocado from the counter and place it in the cabinet"}
+{"task_index": 12, "task": "pick the mushroom from the counter and place it in the cabinet"}
+{"task_index": 13, "task": "pick the orange from the counter and place it in the cabinet"}
+{"task_index": 14, "task": "pick the squash from the counter and place it in the cabinet"}
+{"task_index": 15, "task": "pick the water bottle from the counter and place it in the cabinet"}
+{"task_index": 16, "task": "pick the sponge from the counter and place it in the cabinet"}
+{"task_index": 17, "task": "pick the egg from the counter and place it in the cabinet"}
+{"task_index": 18, "task": "pick the tomato from the counter and place it in the cabinet"}
+{"task_index": 19, "task": "pick the cheese from the counter and place it in the cabinet"}
+{"task_index": 20, "task": "pick the jam from the counter and place it in the cabinet"}
+{"task_index": 21, "task": "pick the mug from the counter and place it in the cabinet"}
+{"task_index": 22, "task": "pick the kettle non electric from the counter and place it in the cabinet"}
+{"task_index": 23, "task": "pick the sweet potato from the counter and place it in the cabinet"}
+{"task_index": 24, "task": "pick the jug from the counter and place it in the cabinet"}
+{"task_index": 25, "task": "pick the canned food from the counter and place it in the cabinet"}
+{"task_index": 26, "task": "pick the cup from the counter and place it in the cabinet"}
+{"task_index": 27, "task": "pick the cupcake from the counter and place it in the cabinet"}
+{"task_index": 28, "task": "pick the kettle electric from the counter and place it in the cabinet"}
+{"task_index": 29, "task": "pick the mango from the counter and place it in the cabinet"}
+{"task_index": 30, "task": "pick the yogurt from the counter and place it in the cabinet"}
+{"task_index": 31, "task": "pick the potato from the counter and place it in the cabinet"}
+{"task_index": 32, "task": "pick the spray from the counter and place it in the cabinet"}
+{"task_index": 33, "task": "pick the can from the counter and place it in the cabinet"}
+{"task_index": 34, "task": "pick the ketchup from the counter and place it in the cabinet"}
+{"task_index": 35, "task": "pick the steak from the counter and place it in the cabinet"}
+{"task_index": 36, "task": "pick the bell pepper from the counter and place it in the cabinet"}
+{"task_index": 37, "task": "pick the beer from the counter and place it in the cabinet"}
+{"task_index": 38, "task": "pick the lemon from the counter and place it in the cabinet"}
+{"task_index": 39, "task": "pick the baguette from the counter and place it in the cabinet"}