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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20aba785cb3caf45d2d3cccf20e52189b08c393
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,462 @@
+{
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+    "total_videos": 200,
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+                "/hdas/feedback_arm_left.position[1]",
+                "/hdas/feedback_arm_left.position[2]",
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+                "/hdas/feedback_arm_left.position[4]",
+                "/hdas/feedback_arm_left.position[5]"
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+                "/hdas/feedback_arm_left.velocity[1]",
+                "/hdas/feedback_arm_left.velocity[2]",
+                "/hdas/feedback_arm_left.velocity[3]",
+                "/hdas/feedback_arm_left.velocity[4]",
+                "/hdas/feedback_arm_left.velocity[5]"
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+                "/hdas/feedback_arm_right.position[1]",
+                "/hdas/feedback_arm_right.position[2]",
+                "/hdas/feedback_arm_right.position[3]",
+                "/hdas/feedback_arm_right.position[4]",
+                "/hdas/feedback_arm_right.position[5]"
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+                "/hdas/feedback_arm_right.velocity[1]",
+                "/hdas/feedback_arm_right.velocity[2]",
+                "/hdas/feedback_arm_right.velocity[3]",
+                "/hdas/feedback_arm_right.velocity[4]",
+                "/hdas/feedback_arm_right.velocity[5]"
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+                "/hdas/imu_chassis.orientation.y",
+                "/hdas/imu_chassis.orientation.z",
+                "/hdas/imu_chassis.orientation.w",
+                "/hdas/imu_chassis.angular_velocity.x",
+                "/hdas/imu_chassis.angular_velocity.y",
+                "/hdas/imu_chassis.angular_velocity.z",
+                "/hdas/imu_chassis.linear_acceleration.x",
+                "/hdas/imu_chassis.linear_acceleration.y",
+                "/hdas/imu_chassis.linear_acceleration.z"
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+                "/hdas/feedback_chassis.position[1]",
+                "/hdas/feedback_chassis.position[2]"
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+                "/hdas/feedback_chassis.velocity[1]",
+                "/hdas/feedback_chassis.velocity[2]"
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+                "/hdas/feedback_torso.position[1]",
+                "/hdas/feedback_torso.position[2]",
+                "/hdas/feedback_torso.position[3]"
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+                "/hdas/feedback_torso.velocity[1]",
+                "/hdas/feedback_torso.velocity[2]",
+                "/hdas/feedback_torso.velocity[3]"
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+                "/motion_control/pose_ee_arm_left.pose.position.y",
+                "/motion_control/pose_ee_arm_left.pose.position.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.x",
+                "/motion_control/pose_ee_arm_left.pose.orientation.y",
+                "/motion_control/pose_ee_arm_left.pose.orientation.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.w"
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+                "/motion_control/pose_ee_arm_right.pose.position.y",
+                "/motion_control/pose_ee_arm_right.pose.position.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.x",
+                "/motion_control/pose_ee_arm_right.pose.orientation.y",
+                "/motion_control/pose_ee_arm_right.pose.orientation.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.w"
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+                "/motion_target/target_speed_chassis.twist.linear.y",
+                "/motion_target/target_speed_chassis.twist.linear.z",
+                "/motion_target/target_speed_chassis.twist.angular.x",
+                "/motion_target/target_speed_chassis.twist.angular.y",
+                "/motion_target/target_speed_chassis.twist.angular.z"
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+                "/motion_target/target_speed_torso.twist.linear.z",
+                "/motion_target/target_speed_torso.twist.angular.x",
+                "/motion_target/target_speed_torso.twist.angular.y",
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+                "/motion_target/target_joint_state_arm_left.position[2]",
+                "/motion_target/target_joint_state_arm_left.position[3]",
+                "/motion_target/target_joint_state_arm_left.position[4]",
+                "/motion_target/target_joint_state_arm_left.position[5]"
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+                "/motion_target/target_joint_state_arm_right.position[2]",
+                "/motion_target/target_joint_state_arm_right.position[3]",
+                "/motion_target/target_joint_state_arm_right.position[4]",
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+                "action.right_ee_pose_9d[7]",
+                "action.right_ee_pose_9d[8]"
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+        }
+    }
+}
diff --git a/meta/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..55cf2b4dbeddb4aa9edd65b9d649c4da38cbbb0c
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,82 @@
+{
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+}
diff --git a/meta/relative_stats.json b/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea21b9156e372bf7bdd4245b1cced41b750d4bd
--- /dev/null
+++ b/meta/relative_stats.json
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+}
\ No newline at end of file
diff --git a/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d4d6b641c0471be358bbf3c699d0b088143fa4f
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,1145 @@
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diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b3f312504b057fda97fc31d6013bdd9722f9fc7
--- /dev/null
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diff --git a/meta_backup_20260701_144235/episodes.jsonl b/meta_backup_20260701_144235/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4336ba735cec3fc28cfa237904828b616115e375
--- /dev/null
+++ b/meta_backup_20260701_144235/episodes.jsonl
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diff --git a/meta_backup_20260701_144235/episodes_stats.jsonl b/meta_backup_20260701_144235/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d03d1f9c3b70301bee7ef2637acbe600ba127e9
--- /dev/null
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diff --git a/meta_backup_20260701_144235/info.json b/meta_backup_20260701_144235/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7221467eb16b3d938526a84cb53395351f36ca
--- /dev/null
+++ b/meta_backup_20260701_144235/info.json
@@ -0,0 +1,428 @@
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+                "/hdas/imu_chassis.angular_velocity.z",
+                "/hdas/imu_chassis.linear_acceleration.x",
+                "/hdas/imu_chassis.linear_acceleration.y",
+                "/hdas/imu_chassis.linear_acceleration.z"
+            ]
+        },
+        "observation.state.chassis": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.position[0]",
+                "/hdas/feedback_chassis.position[1]",
+                "/hdas/feedback_chassis.position[2]"
+            ]
+        },
+        "observation.state.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.velocity[0]",
+                "/hdas/feedback_chassis.velocity[1]",
+                "/hdas/feedback_chassis.velocity[2]"
+            ]
+        },
+        "observation.state.torso": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.position[0]",
+                "/hdas/feedback_torso.position[1]",
+                "/hdas/feedback_torso.position[2]",
+                "/hdas/feedback_torso.position[3]"
+            ]
+        },
+        "observation.state.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.velocity[0]",
+                "/hdas/feedback_torso.velocity[1]",
+                "/hdas/feedback_torso.velocity[2]",
+                "/hdas/feedback_torso.velocity[3]"
+            ]
+        },
+        "observation.state.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_left.position[0]"
+            ]
+        },
+        "observation.state.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_right.position[0]"
+            ]
+        },
+        "observation.state.left_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_left.pose.position.x",
+                "/motion_control/pose_ee_arm_left.pose.position.y",
+                "/motion_control/pose_ee_arm_left.pose.position.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.x",
+                "/motion_control/pose_ee_arm_left.pose.orientation.y",
+                "/motion_control/pose_ee_arm_left.pose.orientation.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.w"
+            ]
+        },
+        "observation.state.right_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_right.pose.position.x",
+                "/motion_control/pose_ee_arm_right.pose.position.y",
+                "/motion_control/pose_ee_arm_right.pose.position.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.x",
+                "/motion_control/pose_ee_arm_right.pose.orientation.y",
+                "/motion_control/pose_ee_arm_right.pose.orientation.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.w"
+            ]
+        },
+        "action.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_left.position[0]"
+            ]
+        },
+        "action.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_right.position[0]"
+            ]
+        },
+        "action.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_chassis.twist.linear.x",
+                "/motion_target/target_speed_chassis.twist.linear.y",
+                "/motion_target/target_speed_chassis.twist.linear.z",
+                "/motion_target/target_speed_chassis.twist.angular.x",
+                "/motion_target/target_speed_chassis.twist.angular.y",
+                "/motion_target/target_speed_chassis.twist.angular.z"
+            ]
+        },
+        "action.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_torso.twist.linear.x",
+                "/motion_target/target_speed_torso.twist.linear.y",
+                "/motion_target/target_speed_torso.twist.linear.z",
+                "/motion_target/target_speed_torso.twist.angular.x",
+                "/motion_target/target_speed_torso.twist.angular.y",
+                "/motion_target/target_speed_torso.twist.angular.z"
+            ]
+        },
+        "action.left_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_left.position[0]",
+                "/motion_target/target_joint_state_arm_left.position[1]",
+                "/motion_target/target_joint_state_arm_left.position[2]",
+                "/motion_target/target_joint_state_arm_left.position[3]",
+                "/motion_target/target_joint_state_arm_left.position[4]",
+                "/motion_target/target_joint_state_arm_left.position[5]"
+            ]
+        },
+        "action.right_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_right.position[0]",
+                "/motion_target/target_joint_state_arm_right.position[1]",
+                "/motion_target/target_joint_state_arm_right.position[2]",
+                "/motion_target/target_joint_state_arm_right.position[3]",
+                "/motion_target/target_joint_state_arm_right.position[4]",
+                "/motion_target/target_joint_state_arm_right.position[5]"
+            ]
+        },
+        "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
+        },
+        "labels": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.state.left_ee_pose_9d": {
+            "dtype": "float64",
+            "shape": [
+                9
+            ],
+            "names": [
+                "observation.state.left_ee_pose_9d[0]",
+                "observation.state.left_ee_pose_9d[1]",
+                "observation.state.left_ee_pose_9d[2]",
+                "observation.state.left_ee_pose_9d[3]",
+                "observation.state.left_ee_pose_9d[4]",
+                "observation.state.left_ee_pose_9d[5]",
+                "observation.state.left_ee_pose_9d[6]",
+                "observation.state.left_ee_pose_9d[7]",
+                "observation.state.left_ee_pose_9d[8]"
+            ]
+        },
+        "observation.state.right_ee_pose_9d": {
+            "dtype": "float64",
+            "shape": [
+                9
+            ],
+            "names": [
+                "observation.state.right_ee_pose_9d[0]",
+                "observation.state.right_ee_pose_9d[1]",
+                "observation.state.right_ee_pose_9d[2]",
+                "observation.state.right_ee_pose_9d[3]",
+                "observation.state.right_ee_pose_9d[4]",
+                "observation.state.right_ee_pose_9d[5]",
+                "observation.state.right_ee_pose_9d[6]",
+                "observation.state.right_ee_pose_9d[7]",
+                "observation.state.right_ee_pose_9d[8]"
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta_backup_20260701_144235/modality.json b/meta_backup_20260701_144235/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..34de534a194ea7fd4a97497b4c9147de7a87beaf
--- /dev/null
+++ b/meta_backup_20260701_144235/modality.json
@@ -0,0 +1,72 @@
+{
+  "state": {
+    "left_arm": {
+      "original_key": "observation.state.left_arm",
+      "start": 0,
+      "end": 6
+    },
+    "right_arm": {
+      "original_key": "observation.state.right_arm",
+      "start": 0,
+      "end": 6
+    },
+    "left_gripper": {
+      "original_key": "observation.state.left_gripper",
+      "start": 0,
+      "end": 1
+    },
+    "right_gripper": {
+      "original_key": "observation.state.right_gripper",
+      "start": 0,
+      "end": 1
+    },
+    "left_ee_pose": {
+      "original_key": "observation.state.left_ee_pose_9d",
+      "start": 0,
+      "end": 9
+    },
+    "right_ee_pose": {
+      "original_key": "observation.state.right_ee_pose_9d",
+      "start": 0,
+      "end": 9
+    }
+  },
+  "action": {
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+      "end": 1
+    },
+    "right_gripper": {
+      "original_key": "action.right_gripper",
+      "start": 0,
+      "end": 1
+    },
+    "left_arm": {
+      "original_key": "observation.state.left_ee_pose_9d",
+      "start": 0,
+      "end": 9
+    },
+    "right_arm": {
+      "original_key": "observation.state.right_ee_pose_9d",
+      "start": 0,
+      "end": 9
+    }
+  },
+  "video": {
+    "observation.images.head_rgb": {
+      "original_key": "observation.images.head_rgb"
+    },
+    "observation.images.left_wrist_rgb": {
+      "original_key": "observation.images.left_wrist_rgb"
+    },
+    "observation.images.right_wrist_rgb": {
+      "original_key": "observation.images.right_wrist_rgb"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "annotation.human.task_description"
+    }
+  }
+}
\ No newline at end of file
diff --git a/meta_backup_20260701_144235/relative_stats.json b/meta_backup_20260701_144235/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea21b9156e372bf7bdd4245b1cced41b750d4bd
--- /dev/null
+++ b/meta_backup_20260701_144235/relative_stats.json
@@ -0,0 +1,4258 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/meta_backup_20260701_144235/stats.json b/meta_backup_20260701_144235/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25377cfb824c2afd518c62984ab5a28e4a0d4d33
--- /dev/null
+++ b/meta_backup_20260701_144235/stats.json
@@ -0,0 +1,1009 @@
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