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1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 6.0, 11.0, 1.0, 4.0, 7.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.472222222222222, 1.9166666666666667, 0.0, 4.305555555555555, 1.9722222222222223, 0.0, 4.722222222222222, 4.333333333333333, 1.3055555555555556, 0.0, 0.0, 0.027777777777777776, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.77584102154594, 2.158638974498104, 0.0, 4.611696749958765, 2.140691880770109, 0.0, 5.102347559436144, 4.5521667612492225, 1.4204741861717327, 0.0, 0.0, 0.1643355495305448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [72]}, "timestamp": {"min": [0.0], "max": [7.099999904632568], "mean": [3.5499999989858932], "std": [2.0782604901727457], "count": [72]}, "frame_index": {"min": [0.0], "max": [71.0], "mean": [35.5], "std": [20.7826049057058], "count": [72]}, "episode_index": {"min": [49.0], "max": [49.0], "mean": [49.0], "std": [0.0], "count": [72]}, "index": {"min": [3902.0], "max": [3973.0], "mean": [3937.5], "std": [20.7826049057058], "count": [72]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [72]}, "observation.images.cam_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.12205162896521887]], [[0.1695048153225041]], [[0.14968225617670236]]], "std": [[[0.12272594266737498]], [[0.1314199163987563]], [[0.11745053768902557]]], "count": [72]}, "observation.images.cam_head_realsense": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.13926982722101186]], [[0.1576676387375938]], [[0.15189032997458243]]], "std": [[[0.1431524113998645]], [[0.13064128218712645]], [[0.11228244597126086]]], "count": [72]}}}
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb9e59bad202d15f997e538470ecf7a0a73be5f
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,327 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "ffw_sh5_rev1",
+    "total_episodes": 50,
+    "total_frames": 3974,
+    "total_tasks": 1,
+    "total_videos": 100,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:50"
+    },
+    "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.state": {
+            "dtype": "float32",
+            "shape": [
+                57
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "finger_l_joint1",
+                "finger_l_joint2",
+                "finger_l_joint3",
+                "finger_l_joint4",
+                "finger_l_joint5",
+                "finger_l_joint6",
+                "finger_l_joint7",
+                "finger_l_joint8",
+                "finger_l_joint9",
+                "finger_l_joint10",
+                "finger_l_joint11",
+                "finger_l_joint12",
+                "finger_l_joint13",
+                "finger_l_joint14",
+                "finger_l_joint15",
+                "finger_l_joint16",
+                "finger_l_joint17",
+                "finger_l_joint18",
+                "finger_l_joint19",
+                "finger_l_joint20",
+                "finger_r_joint1",
+                "finger_r_joint2",
+                "finger_r_joint3",
+                "finger_r_joint4",
+                "finger_r_joint5",
+                "finger_r_joint6",
+                "finger_r_joint7",
+                "finger_r_joint8",
+                "finger_r_joint9",
+                "finger_r_joint10",
+                "finger_r_joint11",
+                "finger_r_joint12",
+                "finger_r_joint13",
+                "finger_r_joint14",
+                "finger_r_joint15",
+                "finger_r_joint16",
+                "finger_r_joint17",
+                "finger_r_joint18",
+                "finger_r_joint19",
+                "finger_r_joint20",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                57
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "finger_l_joint1",
+                "finger_l_joint2",
+                "finger_l_joint3",
+                "finger_l_joint4",
+                "finger_l_joint5",
+                "finger_l_joint6",
+                "finger_l_joint7",
+                "finger_l_joint8",
+                "finger_l_joint9",
+                "finger_l_joint10",
+                "finger_l_joint11",
+                "finger_l_joint12",
+                "finger_l_joint13",
+                "finger_l_joint14",
+                "finger_l_joint15",
+                "finger_l_joint16",
+                "finger_l_joint17",
+                "finger_l_joint18",
+                "finger_l_joint19",
+                "finger_l_joint20",
+                "finger_r_joint1",
+                "finger_r_joint2",
+                "finger_r_joint3",
+                "finger_r_joint4",
+                "finger_r_joint5",
+                "finger_r_joint6",
+                "finger_r_joint7",
+                "finger_r_joint8",
+                "finger_r_joint9",
+                "finger_r_joint10",
+                "finger_r_joint11",
+                "finger_r_joint12",
+                "finger_r_joint13",
+                "finger_r_joint14",
+                "finger_r_joint15",
+                "finger_r_joint16",
+                "finger_r_joint17",
+                "finger_r_joint18",
+                "finger_r_joint19",
+                "finger_r_joint20",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                90
+            ],
+            "names": [
+                "finger_l_sensor1.present_pressure_1",
+                "finger_l_sensor1.present_pressure_2",
+                "finger_l_sensor1.present_pressure_3",
+                "finger_l_sensor1.present_pressure_4",
+                "finger_l_sensor1.present_pressure_5",
+                "finger_l_sensor1.present_pressure_6",
+                "finger_l_sensor1.present_pressure_7",
+                "finger_l_sensor1.present_pressure_8",
+                "finger_l_sensor1.present_pressure_9",
+                "finger_l_sensor2.present_pressure_1",
+                "finger_l_sensor2.present_pressure_2",
+                "finger_l_sensor2.present_pressure_3",
+                "finger_l_sensor2.present_pressure_4",
+                "finger_l_sensor2.present_pressure_5",
+                "finger_l_sensor2.present_pressure_6",
+                "finger_l_sensor2.present_pressure_7",
+                "finger_l_sensor2.present_pressure_8",
+                "finger_l_sensor2.present_pressure_9",
+                "finger_l_sensor3.present_pressure_1",
+                "finger_l_sensor3.present_pressure_2",
+                "finger_l_sensor3.present_pressure_3",
+                "finger_l_sensor3.present_pressure_4",
+                "finger_l_sensor3.present_pressure_5",
+                "finger_l_sensor3.present_pressure_6",
+                "finger_l_sensor3.present_pressure_7",
+                "finger_l_sensor3.present_pressure_8",
+                "finger_l_sensor3.present_pressure_9",
+                "finger_l_sensor4.present_pressure_1",
+                "finger_l_sensor4.present_pressure_2",
+                "finger_l_sensor4.present_pressure_3",
+                "finger_l_sensor4.present_pressure_4",
+                "finger_l_sensor4.present_pressure_5",
+                "finger_l_sensor4.present_pressure_6",
+                "finger_l_sensor4.present_pressure_7",
+                "finger_l_sensor4.present_pressure_8",
+                "finger_l_sensor4.present_pressure_9",
+                "finger_l_sensor5.present_pressure_1",
+                "finger_l_sensor5.present_pressure_2",
+                "finger_l_sensor5.present_pressure_3",
+                "finger_l_sensor5.present_pressure_4",
+                "finger_l_sensor5.present_pressure_5",
+                "finger_l_sensor5.present_pressure_6",
+                "finger_l_sensor5.present_pressure_7",
+                "finger_l_sensor5.present_pressure_8",
+                "finger_l_sensor5.present_pressure_9",
+                "finger_r_sensor1.present_pressure_1",
+                "finger_r_sensor1.present_pressure_2",
+                "finger_r_sensor1.present_pressure_3",
+                "finger_r_sensor1.present_pressure_4",
+                "finger_r_sensor1.present_pressure_5",
+                "finger_r_sensor1.present_pressure_6",
+                "finger_r_sensor1.present_pressure_7",
+                "finger_r_sensor1.present_pressure_8",
+                "finger_r_sensor1.present_pressure_9",
+                "finger_r_sensor2.present_pressure_1",
+                "finger_r_sensor2.present_pressure_2",
+                "finger_r_sensor2.present_pressure_3",
+                "finger_r_sensor2.present_pressure_4",
+                "finger_r_sensor2.present_pressure_5",
+                "finger_r_sensor2.present_pressure_6",
+                "finger_r_sensor2.present_pressure_7",
+                "finger_r_sensor2.present_pressure_8",
+                "finger_r_sensor2.present_pressure_9",
+                "finger_r_sensor3.present_pressure_1",
+                "finger_r_sensor3.present_pressure_2",
+                "finger_r_sensor3.present_pressure_3",
+                "finger_r_sensor3.present_pressure_4",
+                "finger_r_sensor3.present_pressure_5",
+                "finger_r_sensor3.present_pressure_6",
+                "finger_r_sensor3.present_pressure_7",
+                "finger_r_sensor3.present_pressure_8",
+                "finger_r_sensor3.present_pressure_9",
+                "finger_r_sensor4.present_pressure_1",
+                "finger_r_sensor4.present_pressure_2",
+                "finger_r_sensor4.present_pressure_3",
+                "finger_r_sensor4.present_pressure_4",
+                "finger_r_sensor4.present_pressure_5",
+                "finger_r_sensor4.present_pressure_6",
+                "finger_r_sensor4.present_pressure_7",
+                "finger_r_sensor4.present_pressure_8",
+                "finger_r_sensor4.present_pressure_9",
+                "finger_r_sensor5.present_pressure_1",
+                "finger_r_sensor5.present_pressure_2",
+                "finger_r_sensor5.present_pressure_3",
+                "finger_r_sensor5.present_pressure_4",
+                "finger_r_sensor5.present_pressure_5",
+                "finger_r_sensor5.present_pressure_6",
+                "finger_r_sensor5.present_pressure_7",
+                "finger_r_sensor5.present_pressure_8",
+                "finger_r_sensor5.present_pressure_9"
+            ]
+        },
+        "observation.images.cam_head": {
+            "dtype": "video",
+            "shape": [
+                376,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 376,
+                "video.width": 672,
+                "video.codec": "mpeg4",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_realsense": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "mpeg4",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/rilab_episodes.jsonl b/meta/rilab_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f768fb8ea00820c7f16e7178cbb9af3eba98ec1
--- /dev/null
+++ b/meta/rilab_episodes.jsonl
@@ -0,0 +1,50 @@
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diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbfe85ac307b28b18622a3dfb681f65cdf9b7b49
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the spam"}
diff --git a/videos/chunk-000/observation.images.cam_head/episode_000000.mp4 b/videos/chunk-000/observation.images.cam_head/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e3c9318ffa81ce4258c23c9ee82653b54b34bcc
--- /dev/null
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