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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ac6669b8ce1e8607d08375bb2cbb5ba28551ad
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,274 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "g1_dual_arm",
+    "total_episodes": 206,
+    "total_frames": 117730,
+    "total_tasks": 1,
+    "total_videos": 412,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:206"
+    },
+    "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.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                42
+            ],
+            "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_thumb_joint",
+                "left_hand_index_joint",
+                "left_hand_middle_joint",
+                "left_hand_ring_joint",
+                "left_hand_little_joint",
+                "left_hand_thumb_rot_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_thumb_joint",
+                "right_hand_index_joint",
+                "right_hand_middle_joint",
+                "right_hand_ring_joint",
+                "right_hand_little_joint",
+                "right_hand_thumb_rot_joint"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                42
+            ],
+            "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_thumb_joint",
+                "left_hand_index_joint",
+                "left_hand_middle_joint",
+                "left_hand_ring_joint",
+                "left_hand_little_joint",
+                "left_hand_thumb_rot_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_thumb_joint",
+                "right_hand_index_joint",
+                "right_hand_middle_joint",
+                "right_hand_ring_joint",
+                "right_hand_little_joint",
+                "right_hand_thumb_rot_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "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": [
+                3
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.tactile_left": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "left_fingerone",
+                "left_fingertwo",
+                "left_fingerthree",
+                "left_fingerfour",
+                "left_fingerfive",
+                "left_palm"
+            ]
+        },
+        "observation.tactile_right": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "right_fingerone",
+                "right_fingertwo",
+                "right_fingerthree",
+                "right_fingerfour",
+                "right_fingerfive",
+                "right_palm"
+            ]
+        },
+        "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/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7328a1ca54a75b650d79a3f9231e8381394135f
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,139 @@
+{
+    "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": 28
+        },
+        "right_arm": {
+            "start": 28,
+            "end": 35
+        },
+        "right_hand": {
+            "start": 35,
+            "end": 42
+        },
+        "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"
+        },
+        "tactile_left": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.tactile_left"
+        },
+        "tactile_right": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.tactile_right"
+        }
+    },
+    "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": 28
+        },
+        "right_arm": {
+            "start": 28,
+            "end": 35
+        },
+        "right_hand": {
+            "start": 35,
+            "end": 42
+        },
+        "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": 3,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        },
+        "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/meta/relative_stats.json b/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ddd727e10b03acfb9f1c77eea9cb2bebfd12f01
--- /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..709fb47e066a242554f53a4cae506020a7a50337
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,922 @@
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