diff --git a/pick_objects_multiscene0/scene0/meta/episodes.jsonl b/pick_objects_multiscene0/scene0/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25dd236c1a177b602c06ebaa63f03798bb9b40fa
--- /dev/null
+++ b/pick_objects_multiscene0/scene0/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene0/scene0/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fed10857692e88811e4cb1e9a4e6df214c747d30
--- /dev/null
+++ b/pick_objects_multiscene0/scene0/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene0/meta/info.json b/pick_objects_multiscene0/scene0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24247946be4d7dac41e2719de103c9fb12861761
--- /dev/null
+++ b/pick_objects_multiscene0/scene0/meta/info.json
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "SO100",
+    "total_episodes": 99,
+    "total_frames": 17418,
+    "total_tasks": 3,
+    "total_videos": 198,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
+    },
+    "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": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "observation.images.front_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene0/meta/modality.json b/pick_objects_multiscene0/scene0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene0/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "action": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "video": {
+        "front": {
+            "original_key": "observation.images.front_cam"
+        },
+        "wrist": {
+            "original_key": "observation.images.wrist_cam"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
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+}
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diff --git a/pick_objects_multiscene0/scene0/meta/stats.json b/pick_objects_multiscene0/scene0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d4dbf37f24d96935ac920390670024dfb9a729
--- /dev/null
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@@ -0,0 +1,202 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene0/scene0/meta/tasks.jsonl
@@ -0,0 +1,3 @@
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diff --git a/pick_objects_multiscene0/scene1/meta/episodes.jsonl b/pick_objects_multiscene0/scene1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b9a35580f9341befd0972dc5921fd47e3fe3217
--- /dev/null
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diff --git a/pick_objects_multiscene0/scene1/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2c04ef2a880d321224df6a88b9bad1e8fde7bac
--- /dev/null
+++ b/pick_objects_multiscene0/scene1/meta/episodes_stats.jsonl
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diff --git a/pick_objects_multiscene0/scene1/meta/modality.json b/pick_objects_multiscene0/scene1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene1/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene1/meta/stats.json b/pick_objects_multiscene0/scene1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4f796709627bf6c7c2394efa24e6d158d374e3
--- /dev/null
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\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene3/meta/episodes.jsonl b/pick_objects_multiscene0/scene3/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7665c89ada941d416e2f07ae1db6af7adcb21f5c
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/episodes.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene3/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene3/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3301eaa41c49848bbec489fe58cc02f0fd2c6d1d
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene3/meta/info.json b/pick_objects_multiscene0/scene3/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d043ddde4ae6a815af41fdda5c419d455fb514f6
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "features": {
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene3/meta/modality.json b/pick_objects_multiscene0/scene3/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+        "wrist": {
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+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene3/meta/stats.json b/pick_objects_multiscene0/scene3/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18b1eb149ea2361ad92bac27b0b3cb6c5fd492e
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/stats.json
@@ -0,0 +1,202 @@
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diff --git a/pick_objects_multiscene0/scene3/meta/tasks.jsonl b/pick_objects_multiscene0/scene3/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene0/scene3/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
+{"task_index": 2, "task": "touch the blue cube"}
diff --git a/pick_objects_multiscene0/scene5/meta/episodes.jsonl b/pick_objects_multiscene0/scene5/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4acd3394a3fdb9d67214ff5d3c7f4db128c5601f
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene0/scene5/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene5/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d79031a721fdc3e9eceeeb48081fb449b676e86
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene5/meta/info.json b/pick_objects_multiscene0/scene5/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a565f5e830c2607090445aa7536dbfdd6d74b61f
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "robot_type": "SO100",
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+    "total_frames": 15218,
+    "total_tasks": 3,
+    "total_videos": 198,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
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+        "observation.images.front_cam": {
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+            "shape": [
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+                640,
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+                "width",
+                "channels"
+            ],
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+                "video.width": 640,
+                "video.codec": "av1",
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+                "width",
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+                "a_2",
+                "a_3",
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+        "task_index": {
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+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene5/meta/modality.json b/pick_objects_multiscene0/scene5/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
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+            "end": 5
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+            "end": 6
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+    "action": {
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+        "wrist": {
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+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene5/meta/stats.json b/pick_objects_multiscene0/scene5/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2516187b978bff84d29bd6807f0763f16d376346
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/stats.json
@@ -0,0 +1,202 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene5/meta/tasks.jsonl b/pick_objects_multiscene0/scene5/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene0/scene5/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
+{"task_index": 2, "task": "touch the blue cube"}
diff --git a/pick_objects_multiscene0/scene6/meta/episodes.jsonl b/pick_objects_multiscene0/scene6/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..505ee88eac4b2634a3321f16941304d15358d632
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/episodes.jsonl
@@ -0,0 +1,99 @@
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+{"episode_index": 1, "tasks": ["touch the red cube"], "length": 124}
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diff --git a/pick_objects_multiscene0/scene6/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene6/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89565e24ea32a89bacc40a1238395f753376c63f
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene6/meta/info.json b/pick_objects_multiscene0/scene6/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35222f83e73e3d4fb4204452951ad327d9eda4e1
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/info.json
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "SO100",
+    "total_episodes": 99,
+    "total_frames": 15216,
+    "total_tasks": 3,
+    "total_videos": 198,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
+    },
+    "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": {
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+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "observation.images.front_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                1
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+        },
+        "episode_index": {
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+            "names": null
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene6/meta/modality.json b/pick_objects_multiscene0/scene6/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "action": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "video": {
+        "front": {
+            "original_key": "observation.images.front_cam"
+        },
+        "wrist": {
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene6/meta/stats.json b/pick_objects_multiscene0/scene6/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d6fcedfa14318baba2c2bb7e0dd98b998dd743
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/stats.json
@@ -0,0 +1,202 @@
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\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene6/meta/tasks.jsonl b/pick_objects_multiscene0/scene6/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene0/scene6/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
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diff --git a/pick_objects_multiscene0/scene7/meta/episodes.jsonl b/pick_objects_multiscene0/scene7/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..202cb05c90308bad98fa535d093b9dfcff672ea1
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene0/scene7/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene7/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b745c2888e14f5c192edb4564529f9029dff8438
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene7/meta/info.json b/pick_objects_multiscene0/scene7/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bcbf704e852c3dcdb96604f29aee60b9c37102e
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "features": {
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\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene7/meta/modality.json b/pick_objects_multiscene0/scene7/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene7/meta/stats.json b/pick_objects_multiscene0/scene7/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd64bc6f628c2a490358ab4e979f633f17cff5f2
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/stats.json
@@ -0,0 +1,202 @@
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diff --git a/pick_objects_multiscene0/scene7/meta/tasks.jsonl b/pick_objects_multiscene0/scene7/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene0/scene7/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
+{"task_index": 2, "task": "touch the blue cube"}
diff --git a/pick_objects_multiscene0/scene8/meta/episodes.jsonl b/pick_objects_multiscene0/scene8/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c7aa4dc3d789cda56f850bdb556c9f8feb488ff
--- /dev/null
+++ b/pick_objects_multiscene0/scene8/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene0/scene8/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene8/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d4c5883d6d1a92692f3f01bba26ecff6b8e55eb
--- /dev/null
+++ b/pick_objects_multiscene0/scene8/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene8/meta/info.json b/pick_objects_multiscene0/scene8/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de1ccc35a296843379a1fb2d27a6a8d99714eb4a
--- /dev/null
+++ b/pick_objects_multiscene0/scene8/meta/info.json
@@ -0,0 +1,127 @@
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new file mode 100644
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