diff --git a/README.md b/README.md
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+# TwoRobotStackCube-v1 Dataset
+
+This dataset was converted from ManiSkill format to LeRobot format.
+
+## Dataset Information
+- Environment: TwoRobotStackCube-v1
+- Total Episodes: 1043
+- Total Frames: 25763
+- FPS: 20
+- Video Keys: ['observation.image']
+- Target Control Mode: Original
+
+## Original ManiSkill Metadata
+{
+  "env_id": "TwoRobotStackCube-v1",
+  "env_kwargs": {
+    "obs_mode": "state+rgb",
+    "control_mode": "pd_joint_delta_pos",
+    "num_envs": 1,
+    "render_mode": "rgb_array"
+  },
+  "max_episode_steps": 100
+}
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+{"episode_index": 1040, "task_index": 0, "length": 16, "timestamp": "2024-01-1041T00:00:00.000000"}
+{"episode_index": 1041, "task_index": 0, "length": 18, "timestamp": "2024-01-1042T00:00:00.000000"}
+{"episode_index": 1042, "task_index": 0, "length": 18, "timestamp": "2024-01-1043T00:00:00.000000"}
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..23045bb0801d6889537ceb97b695aba2e73d50aa
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,257 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "panda",
+    "total_episodes": 1043,
+    "total_frames": 25763,
+    "total_tasks": 1,
+    "total_videos": 1043,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
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+    },
+    "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",
+    "video_keys": [
+        "observation.image"
+    ],
+    "features": {
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+            "names": null
+        },
+        "frame_index": {
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+        "timestamp": {
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+        },
+        "action": {
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+            ],
+            "names": {
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+                    "1_delta_joint_0",
+                    "1_delta_joint_1",
+                    "1_delta_joint_2",
+                    "1_delta_joint_3",
+                    "1_delta_joint_4",
+                    "1_delta_joint_5",
+                    "1_delta_joint_6",
+                    "1_gripper",
+                    "2_delta_joint_0",
+                    "2_delta_joint_1",
+                    "2_delta_joint_2",
+                    "2_delta_joint_3",
+                    "2_delta_joint_4",
+                    "2_delta_joint_5",
+                    "2_delta_joint_6",
+                    "2_gripper"
+                ]
+            }
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+
+
+
+
+            
+"tcp_to_cubeA_pos_x",
+"tcp_to_cubeA_pos_y",
+"tcp_to_cubeA_pos_z",
+"tcp_to_cubeB_pos_x",
+"tcp_to_cubeB_pos_y",
+"tcp_to_cubeB_pos_z",
+"cubeA_to_cubeB_pos_x",
+"cubeA_to_cubeB_pos_y",
+"cubeA_to_cubeB_pos_z"
+            
+            "names": [
+                "1_robot_panda_joint1_pos",
+                "1_robot_panda_joint2_pos",
+                "1_robot_panda_joint3_pos",
+                "1_robot_panda_joint4_pos",
+                "1_robot_panda_joint5_pos",
+                "1_robot_panda_joint6_pos",
+                "1_robot_panda_joint7_pos",
+                "1_robot_gripper_finger_1_p",
+                "1_robot_gripper_finger_2_p",
+                "1_robot_panda_joint1_vel",
+                "1_robot_panda_joint2_vel",
+                "1_robot_panda_joint3_vel",
+                "1_robot_panda_joint4_vel",
+                "1_robot_panda_joint5_vel",
+                "1_robot_panda_joint6_vel",
+                "1_robot_panda_joint7_vel",
+                "1_robot_gripper_finger_1_v",
+                "1_robot_gripper_finger_2_v",
+                "2_robot_panda_joint1_pos",
+                "2_robot_panda_joint2_pos",
+                "2_robot_panda_joint3_pos",
+                "2_robot_panda_joint4_pos",
+                "2_robot_panda_joint5_pos",
+                "2_robot_panda_joint6_pos",
+                "2_robot_panda_joint7_pos",
+                "2_robot_gripper_finger_1_p",
+                "2_robot_gripper_finger_2_p",
+                "2_robot_panda_joint1_vel",
+                "2_robot_panda_joint2_vel",
+                "2_robot_panda_joint3_vel",
+                "2_robot_panda_joint4_vel",
+                "2_robot_panda_joint5_vel",
+                "2_robot_panda_joint6_vel",
+                "2_robot_panda_joint7_vel",
+                "2_robot_gripper_finger_1_v",
+                "2_robot_gripper_finger_2_v",
+                "left_arm_tcp_pos_x",
+                "left_arm_tcp_pos_y",
+                "left_arm_tcp_pos_z",
+                "left_arm_tcp_quat_x",
+                "left_arm_tcp_quat_y",
+                "left_arm_tcp_quat_z",
+                "left_arm_tcp_quat_w",
+                "right_arm_tcp_pos_x",
+                "right_arm_tcp_pos_y",
+                "right_arm_tcp_pos_z",
+                "right_arm_tcp_quat_x",
+                "right_arm_tcp_quat_y",
+                "right_arm_tcp_quat_z",
+                "right_arm_tcp_quat_w",
+                "goal_region_pos_x",
+                "goal_region_pos_y",
+                "goal_region_pos_z",
+                "cubeA_pos_x",
+                "cubeA_pos_y",
+                "cubeA_pos_z",
+                "cubeA_quat_x",
+                "cubeA_quat_y",
+                "cubeA_quat_z",
+                "cubeA_quat_w",
+                "cubeB_pos_x",
+                "cubeB_pos_y",
+                "cubeB_pos_z",
+                "cubeB_quat_x",
+                "cubeB_quat_y",
+                "cubeB_quat_z",
+                "cubeB_quat_w",
+                "left_arm_tcp_to_cubeA_pos_x",
+                "left_arm_tcp_to_cubeA_pos_y",
+                "left_arm_tcp_to_cubeA_pos_z",
+                "right_arm_tcp_to_cubeb_pos_x",
+                "right_arm_tcp_to_cubeb_pos_y",
+                "right_arm_tcp_to_cubeb_pos_z",
+                "cubeA_to_cubeB_pos_x",
+                "cubeA_to_cubeB_pos_y",
+                "cubeA_to_cubeB_pos_z"
+            ]
+        },
+        "terminated": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "truncated": {
+            "dtype": "bool",
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+            ],
+            "names": null
+        },
+        "success": {
+            "dtype": "bool",
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+            ],
+            "names": null
+        },
+        "reward": {
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+            ],
+            "names": null
+        },
+        "expert_mask": {
+            "dtype": "int64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "observation.image": {
+            "dtype": "video",
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+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "libx264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    },
+    "encoding": {
+        "pil_kwargs": {
+            "format": "png",
+            "quality": 100
+        },
+        "video_kwargs": {
+            "vcodec": "libx264",
+            "pix_fmt": "yuv420p",
+            "g": 2,
+            "crf": 18
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7e08a186e11023962aad8c6f142c4383de3f22
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,418 @@
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