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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..5c46d96b426ebdb73d113ad7502493a66dcc6bc3
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the object, then hand it to the left hand."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_tabletop_handover_mp\", \"label\": \"G1 Wholebody Tabletop Handover MP\", \"description\": \"A task where the G1 robot must move to a target position and pick up an object using right hand and hand it to the left hand.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"distance\": 1.5, \"polar\": 1.0471975511965976, \"azimuth\": 0.0}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, 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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes_stats.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec9a7cab7ad7efa2aaf9f4084753bfd7efd6eebe
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/info.json b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/info.json
@@ -0,0 +1,292 @@
+{
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+    "total_frames": 10,
+    "total_tasks": 1,
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+    "total_chunks": 1,
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+    "fps": 50,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            ],
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+                "left_leg",
+                "right_leg",
+                "waist",
+                "left_arm",
+                "right_arm",
+                "left_eef",
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+            ]
+        },
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+                "has_audio": false
+            }
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+                640,
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+            ],
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+                "width",
+                "channels"
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+        },
+        "observation.amo_policy_rpy": {
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+                3
+            ],
+            "names": [
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+        },
+        "observation.amo_policy_turning_flag": {
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+                1
+            ],
+            "names": [
+                "amo_policy_turning_flag"
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+        },
+        "observation.amo_policy_target_yaw": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "amo_policy_target_yaw"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
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+                1
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+        },
+        "task_index": {
+            "dtype": "int64",
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/tasks.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8cd88947aaacaffad98a2fd3b968b5bf77dbe15c
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the object, then hand it to the left hand."}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd4e465e689a47835ee7107ebb8e086742e00137
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
@@ -0,0 +1,3 @@
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+oid sha256:310ff2fa768f189dcc9dcd89505a44892136dd053dc3698e7bb951ab7daa0cdd
+size 10823
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-0/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-0/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
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\"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.5, 0.9, 0.9], \"table2_size\": [1.5, 0.79, 0.9], \"table2_position\": [1.46619, -3.82, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_2ece2d4b711becb90ad614ee1b07e937c68646a\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_84665d3445bda636ec38444167785ad3d6d586a\"}}, \"name\": \"102344328\", \"data_dir\": \"scenes/hssd/102344328\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [1.5, 0.9, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_0\"}}}, \"scene_info\": {}}}"}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..9edf907108b33cc781f22ec3bbbef823e1e1f994
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the object, then hand it to the left hand."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_tabletop_handover_mp\", \"label\": \"G1 Wholebody Tabletop Handover MP\", \"description\": \"A task where the G1 robot must move to a target position and pick up an object using right hand and hand it to the left hand.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"distance\": 1.5, \"polar\": 1.0471975511965976, \"azimuth\": 0.0}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.35, 0.9, 0.675], \"eulers\": [0.0, 0.5235987755982988, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the object, then hand it to the left hand.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 2, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.96, 0.0, 0.0], \"high\": 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\"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null, \"randomize_scene_pose\": true}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 8000.0, \"high\": 12000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\", \"table_material\": null}}, \"dr_state_dict\": {\"language\": \"pick up the object, then hand it to the left hand.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"0\", \"label\": \"cracker_box\", \"name\": \"cracker box\", \"usd_path\": \"/home/wenke/SIMPLE/data/assets/graspnet/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {\"5\": {\"res_id\": \"graspnet1b\", \"uid\": \"5\", \"label\": \"banana\", \"name\": \"banana\", \"usd_path\": \"/home/wenke/SIMPLE/data/assets/graspnet/ruled_models/005_ruled.usd\", \"description\": \"todo\"}, \"40\": {\"res_id\": \"graspnet1b\", \"uid\": \"40\", \"label\": \"kispa_cleanser\", \"name\": \"kispa cleanser\", \"usd_path\": \"/home/wenke/SIMPLE/data/assets/graspnet/ruled_models/040_ruled.usd\", \"description\": \"todo\"}}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.9643991967117693, 0.0, 0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"0\": {\"position\": [-0.6105964183807373, 0.016393762081861496, 0.113421730697155], \"quaternion\": [0.99982361119692, -0.0005789382654361004, -0.0018171135878557454, 0.01868447007127576]}, \"29\": {\"position\": 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\"table_size\": [1.5, 0.9, 0.9], \"table2_size\": [1.5, 0.79, 0.9], \"table2_position\": [1.46619, -3.82, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_2ece2d4b711becb90ad614ee1b07e937c68646a\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_84665d3445bda636ec38444167785ad3d6d586a\"}}, \"name\": \"102344328\", \"data_dir\": \"scenes/hssd/102344328\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [1.5, 0.9, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Carpet/Fabric_Carpet_Long_Floor.mdl\", \"name\": \"Fabric_Carpet_Long_Floor_Orange\"}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1995436997782205, -1.0553942262107288, 0.0]}, \"light_radius\": 0.09193243122416656, 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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes_stats.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bbd7cd19202b6b6e95bb0a918a846f7f4ab09015
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/info.json b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-1/meta/info.json
@@ -0,0 +1,292 @@
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+}
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+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes.jsonl
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the object, then hand it to the left hand."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_tabletop_handover_mp\", \"label\": \"G1 Wholebody Tabletop Handover MP\", \"description\": \"A task where the G1 robot must move to a target position and pick up an object using right hand and hand it to the left hand.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"distance\": 1.5, \"polar\": 1.0471975511965976, \"azimuth\": 0.0}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": 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\"/World/furniture/node_84665d3445bda636ec38444167785ad3d6d586a\"}}, \"name\": \"102344328\", \"data_dir\": \"scenes/hssd/102344328\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [1.5, 0.9, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Mortar.mdl\", \"name\": \"Mortar_Clay\"}}}, \"scene_info\": {}}}"}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..ca3bff71c3152ce766ffb95a3d747de9d21e72ff
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the object, then hand it to the left hand."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_tabletop_handover_mp\", \"label\": \"G1 Wholebody Tabletop Handover MP\", \"description\": \"A task where the G1 robot must move to a target position and pick up an object using right hand and hand it to the left hand.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"distance\": 1.5, \"polar\": 1.0471975511965976, \"azimuth\": 0.0}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.35, 0.9, 0.675], \"eulers\": [0.0, 0.5235987755982988, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the object, then hand it to the left hand.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 2, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.96, 0.0, 0.0], \"high\": [-1.03, 0.0, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.6, -0.0], \"high\": [-0.65, 0.05]}, \"container_region\": null, \"distractors_region\": {\"low\": [0.3, -0.3], \"high\": [-0.5, 0.3]}, \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"placement_attempts\": 100, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.05, \"high\": 0.05}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": null}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0, 0.25], \"high\": [0, 0.25]}, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene15\"], \"scene_manager\": \"hssd\", \"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null, \"randomize_scene_pose\": true}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 8000.0, \"high\": 12000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\", \"table_material\": null}}, \"dr_state_dict\": {\"language\": \"pick up the object, then hand it to the left hand.\", \"target\": {\"res_id\": 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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes_stats.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c9346fed8fa7dfe35ba6733a9e70aababd75a96
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/info.json b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-2/meta/info.json
@@ -0,0 +1,292 @@
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\"side_left\", \"cam_cfg\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.35, 0.9, 0.675], \"eulers\": [0.0, 0.5235987755982988, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"pose\": {\"position\": [0.35, 0.9, 0.675], \"quaternion\": [0.6830127018922194, 0.1830127018922193, 0.18301270189221933, -0.6830127018922193]}, \"fx\": 446.31265087170937, \"fy\": 446.31265087170937, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_on_base\", \"resolution\": [640, 360], \"focal_length\": 1.88}}, \"scene\": {\"uid\": \"hssd:scene15\", \"conf\": {\"uid\": \"scene15\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344328\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.5, 0.9, 0.9], \"table2_size\": [1.5, 0.79, 0.9], \"table2_position\": [1.46619, -3.82, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_2ece2d4b711becb90ad614ee1b07e937c68646a\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_84665d3445bda636ec38444167785ad3d6d586a\"}}, \"name\": \"102344328\", \"data_dir\": \"scenes/hssd/102344328\", \"center_offset\": [0.0, 0.2952742011572518, 0.0], \"center_orientation\": [90.0, 0.0, -3.508009213086913], \"table\": {\"uid\": \"box\", \"size\": [1.5, 0.9, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Charcoal_Blue\"}}}, \"scene_info\": {}}}"}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..a929bc2b32bbc0105bb5a5fb79d6bd517a7bb615
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the object, then hand it to the left hand."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_tabletop_handover_mp\", \"label\": \"G1 Wholebody Tabletop Handover MP\", \"description\": \"A task where the G1 robot must move to a target position and pick up an object using right hand and hand it to the left hand.\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"max_episode_steps\": 400, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"distance\": 1.5, \"polar\": 1.0471975511965976, \"azimuth\": 0.0}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.35, 0.9, 0.675], \"eulers\": [0.0, 0.5235987755982988, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the object, then hand it to the left hand.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\", \"size\": null}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 4, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.96, 0.0, 0.0], \"high\": [-1.03, 0.0, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.67, -0.04], \"high\": [-0.58, 0.09]}, \"container_region\": null, \"distractors_region\": {\"low\": [0.3, -0.3], \"high\": [-0.5, 0.3]}, \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"placement_attempts\": 100, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.25, \"high\": 0.25}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": null, \"obj_surface_map\": null}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0, 0.25], \"high\": [0, 0.25]}, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene15\"], \"scene_manager\": \"hssd\", \"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null, \"randomize_scene_pose\": true}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [1, 4], \"light_color_temperature\": {\"low\": 3500, \"high\": 9000}, \"light_intensity\": {\"low\": 3000.0, \"high\": 30000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.6, -1.6, 1.1], \"high\": [1.6, 1.6, 1.8]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\", \"table_material\": null}}, \"dr_state_dict\": {\"language\": \"pick up the object, then hand it to the left hand.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"0\", \"label\": \"cracker_box\", \"name\": \"cracker box\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {\"25\": {\"res_id\": \"graspnet1b\", \"uid\": \"25\", \"label\": \"toy_gun\", \"name\": \"toy gun\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/025_ruled.usd\", \"description\": \"todo\"}, \"16\": {\"res_id\": \"graspnet1b\", \"uid\": \"16\", \"label\": \"orange\", \"name\": \"orange\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/016_ruled.usd\", \"description\": \"todo\"}, \"53\": {\"res_id\": \"graspnet1b\", \"uid\": \"53\", \"label\": \"toy_small_elephant\", \"name\": \"toy small elephant\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/053_ruled.usd\", \"description\": \"todo\"}, \"12\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}}, \"spatial\": {\"g1_wholebody\": {\"position\": [-1.0089735437975362, 0.0, 0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"0\": {\"position\": [-0.6127545237541199, -0.008797364309430122, 0.113421730697155], \"quaternion\": [0.9963985906760887, -0.0007636791611200534, -0.0017475312429900969, -0.08477152486181816]}, \"25\": {\"position\": [-0.3371131718158722, 0.27549996972084045, 0.031145205721259117], \"quaternion\": [0.993227270818429, 0.0004350601701716196, -0.0022042527467619477, 0.11616600404185341]}, \"16\": {\"position\": [-0.06651106476783752, 0.05459050089120865, 0.03630991280078888], \"quaternion\": [0.8178792180604402, -0.002067826821881282, 0.0458123107848436, 0.5735595356522551]}, \"53\": {\"position\": [-0.3861781060695648, -0.025665927678346634, 0.015195673331618309], \"quaternion\": [0.6408333928587246, 0.13228631862493662, 0.2451910907724626, -0.7153420311345106]}, \"12\": {\"position\": [-0.46149957180023193, 0.04545069858431816, 0.03657222166657448], \"quaternion\": [0.9653481094169533, 0.001357133534273393, -0.001587059455525952, -0.26095721311350895]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene15\", \"conf\": {\"uid\": \"scene15\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344328\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.5, 0.9, 0.9], \"table2_size\": [1.5, 0.79, 0.9], \"table2_position\": [1.46619, -3.82, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_2ece2d4b711becb90ad614ee1b07e937c68646a\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": 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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes_stats.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c9346fed8fa7dfe35ba6733a9e70aababd75a96
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/generation.json b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/generation.json
new file mode 100644
index 0000000000000000000000000000000000000000..71f144fec99e39bd33c05221ae47b390da53d912
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/generation.json
@@ -0,0 +1,26 @@
+{
+  "env_id": "simple/G1WholebodyTabletopHandoverMP-v0",
+  "seed": 0,
+  "num_candidates": 40,
+  "kept_candidates": [
+    7,
+    8,
+    9,
+    16,
+    17,
+    20,
+    24,
+    26,
+    29,
+    31
+  ],
+  "spawn_yaw": null,
+  "spawn_shift": [
+    -0.03125,
+    0.0058,
+    -3.152
+  ],
+  "template": "dr-level-2",
+  "allow_resting_contact": true,
+  "hard_dr": "Wider than the task's DR (target x -0.65..-0.6, y 0..0.05, rot +-0.05; 2 distractors;\n    lights as in the other MP tasks). The robot spawns at x -1.03..-0.96."
+}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/info.json b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/info.json
@@ -0,0 +1,292 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 70,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_leg",
+                "right_leg",
+                "waist",
+                "left_arm",
+                "right_arm",
+                "left_eef",
+                "right_eef"
+            ]
+        },
+        "observation.rgb_front_stereo_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_front_stereo_right": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_head_stereo_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_head_stereo_right": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.joint_qpos": {
+            "dtype": "float32",
+            "shape": [
+                43
+            ],
+            "names": [
+                "joint_qpos"
+            ]
+        },
+        "observation.rgb_side_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_wrist": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.amo_policy_obs_prop": {
+            "dtype": "float32",
+            "shape": [
+                93
+            ],
+            "names": [
+                "amo_policy_obs_prop"
+            ]
+        },
+        "observation.amo_policy_output_torque": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "amo_policy_output_torque"
+            ]
+        },
+        "observation.amo_policy_command": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "amo_policy_command"
+            ]
+        },
+        "observation.amo_policy_rpy": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "amo_policy_rpy"
+            ]
+        },
+        "observation.amo_policy_turning_flag": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "amo_policy_turning_flag"
+            ]
+        },
+        "observation.amo_policy_target_yaw": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "amo_policy_target_yaw"
+            ]
+        },
+        "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/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/tasks.jsonl b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8cd88947aaacaffad98a2fd3b968b5bf77dbe15c
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the object, then hand it to the left hand."}
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a37ddae7afa202c00e833d981ff0990bedb6d00b
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf7ebd662b795acc2bb476ce5481d0e9daff6fbf6941b54979db6a6efce49f9
+size 12509
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
new file mode 100644
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--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
@@ -0,0 +1,3 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be7d48d0410ce43493e51f489848a7d919f955dc
--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4
@@ -0,0 +1,3 @@
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+size 9202
diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000003.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000003.mp4
new file mode 100644
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--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000003.mp4
@@ -0,0 +1,3 @@
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diff --git a/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000004.mp4 b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000004.mp4
new file mode 100644
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--- /dev/null
+++ b/G1WholebodyTabletopHandoverMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000004.mp4
@@ -0,0 +1,3 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..96b4187d105871219c93871872e30546f5b95ff3
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["move forward to pick up the cracker box"], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_xmove_pick_teleop\", \"label\": \"G1 SONIC XMove Pick\", \"description\": \"A task where the G1 robot must move forward to pick up an object .\", \"metadata\": {\"physics_dt\": 0.005, \"control_hz\": 200, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"reward_dt\": 0.02, \"image_dt\": 0.033333, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_sonic\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"move forward to the table and pick up the {}\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 3, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.9, -0.0, 0.0], \"high\": [-1.0, 0.0, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.3, -0.08], \"high\": [-0.25, -0.04]}, \"container_region\": null, \"distractors_region\": {\"low\": [-0.2, -0.3], \"high\": [0.4, 0.3]}, \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"container_rotate_z\": null, \"obj_surface_map\": null}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0.3, 0], \"high\": [0.3, 0]}, \"table_height\": {\"low\": 0.58, \"high\": 0.45}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene0\"], \"scene_manager\": \"hssd\", \"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 2001, \"high\": 8001}, \"light_intensity\": {\"low\": 10000.0, \"high\": 10000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 1.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.0, 2.0]}, \"light_position\": {\"low\": [-0.5, -0.5, 1.3], \"high\": [0.5, 0.5, 1.5]}, \"light_eulers\": {\"low\": [0, 0, 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{\"position\": [0.21212376654148102, 0.2713002562522888, 0.6653969883918762], \"quaternion\": [0.9909843841682474, -7.5372382502786e-05, 0.000773698418787383, -0.13397516950703808]}, \"17\": {\"position\": [0.05929252505302429, -0.20838527381420135, 0.6069740056991577], \"quaternion\": [0.05608724796735736, -0.0015439872630431744, -0.0008309634271933541, -0.9984243317440549]}, \"48\": {\"position\": [0.33557796478271484, -0.15942168235778809, 0.6062162518501282], \"quaternion\": [0.7542949534856701, 0.019828712114852057, 0.011390525435594823, -0.6561373341399024]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene0\", \"conf\": {\"uid\": \"scene0\", \"data_dir\": \"scenes/hssd\", \"name\": \"107734119_175999932\", \"default_prim_path\": \"/World/scene\", \"scale\": 1, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.1, 0.0, 0.0], \"center_offset_limit_down\": [0.4, 0.0, 0.0], \"center_orientation_limit_up\": [90, 0, -15], 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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes_stats.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8481cb6833f33b613e278d8f95b8bbe41153dfd
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/info.json b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5c499891099cd262c2ef5513c42b58cc677ff
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/info.json
@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "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": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
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+                1
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+            "names": null
+        },
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+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
+        "lower_body_policy": null,
+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/modality.json b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-0/meta/modality.json
@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
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+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
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+            "end": 12
+        },
+        "waist": {
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+            "end": 15
+        },
+        "left_arm": {
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+            "end": 22
+        },
+        "left_hand": {
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+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
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+            "end": 43
+        },
+        "left_wrist_pos": {
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+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes.jsonl
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[90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [1.25, 0.78999733, 0.1], \"pose\": {\"position\": [0.3, 0.0, 0.5299999999999999], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Blue_Ocean_Perlinwaves.mdl\", \"name\": \"Water_Ocean_Light_Blue\"}}}, \"scene_info\": {}}}"}
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..334f5d83a651eedbf84305292ad7c5a0178aeac0
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
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{\"position\": [0.3, 0.0, 0.5299999999999999], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Blue_Ocean_Perlinwaves.mdl\", \"name\": \"Water_Ocean_Light_Blue\"}}}, \"scene_info\": {}}}"}
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes_stats.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8481cb6833f33b613e278d8f95b8bbe41153dfd
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/info.json b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5c499891099cd262c2ef5513c42b58cc677ff
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/info.json
@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "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": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
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+                1
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+        },
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+                1
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+        },
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+            "dtype": "int64",
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+                1
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+        },
+        "index": {
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+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
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+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/modality.json b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-1/meta/modality.json
@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
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+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
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+            "end": 6
+        },
+        "right_leg": {
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+            "end": 12
+        },
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+            "end": 15
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+        "left_arm": {
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+            "end": 22
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+        "left_hand": {
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+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
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+            "end": 43
+        },
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+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes.jsonl
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes.jsonl.pre-fk b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..9b608c7b505486f748ddb782d74572aa054c8268
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["move forward to pick up the cracker box"], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_xmove_pick_teleop\", \"label\": \"G1 SONIC XMove Pick\", \"description\": \"A task where the G1 robot must move forward to pick up an object .\", \"metadata\": {\"physics_dt\": 0.005, \"control_hz\": 200, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"reward_dt\": 0.02, \"image_dt\": 0.033333, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_sonic\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"move forward to the table and pick up the {}\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 3, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.9, -0.0, 0.0], \"high\": [-1.0, 0.0, 0.0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [-0.3, -0.08], \"high\": [-0.25, -0.04]}, \"container_region\": null, \"distractors_region\": {\"low\": [-0.2, -0.3], \"high\": [0.4, 0.3]}, \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -0.15, \"high\": 0.15}, \"container_rotate_z\": null, \"obj_surface_map\": null}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": 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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes_stats.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8481cb6833f33b613e278d8f95b8bbe41153dfd
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/info.json b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5c499891099cd262c2ef5513c42b58cc677ff
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/info.json
@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "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": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
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+                1
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+        },
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+            "dtype": "int64",
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+        "index": {
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
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+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/modality.json b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-2/meta/modality.json
@@ -0,0 +1,147 @@
+{
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+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
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+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
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+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
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+            "end": 6
+        },
+        "right_leg": {
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+            "end": 12
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+            "end": 15
+        },
+        "left_arm": {
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+            "end": 22
+        },
+        "left_hand": {
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+            "end": 29
+        },
+        "right_arm": {
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+            "end": 36
+        },
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+            "end": 43
+        },
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+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes.jsonl
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes.jsonl.pre-fk b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..d7bdbbfa0675ee5d9a54c73d91786ca5c88b226f
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes_stats.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8481cb6833f33b613e278d8f95b8bbe41153dfd
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/info.json b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5c499891099cd262c2ef5513c42b58cc677ff
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/info.json
@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "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": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
+        "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
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
+        "lower_body_policy": null,
+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/modality.json b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/modality.json
@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/tasks.jsonl b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b2900e865bdd9ded4a9949d9e0c237f58452a7f
--- /dev/null
+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index":0,"task":"move forward to pick up the cracker box"}
diff --git a/G1WholebodyXMovePickTeleop-v0/dr-level-hard/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/videos/chunk-000/observation.images.ego_view/episode_000000.mp4
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+++ b/G1WholebodyXMovePickTeleop-v0/dr-level-hard/videos/chunk-000/observation.images.ego_view/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:456b823af36a79d95c51341a304244cd2ccfc74c21f2552b3ba2580c20287045
+size 10527
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