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diff --git a/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/episodes_stats.jsonl b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5783e870f979aa7f0c3a8dc45f3f0c49477e6be
--- /dev/null
+++ b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/episodes_stats.jsonl
@@ -0,0 +1,207 @@
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diff --git a/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/info.json b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..606efe643f5c22d6acb22b4dd7f0fb4f0b15d532
--- /dev/null
+++ b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/info.json
@@ -0,0 +1,306 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "franka_fer_xhand",
+    "total_episodes": 207,
+    "total_frames": 32954,
+    "total_tasks": 1,
+    "total_videos": 621,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:207"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                19
+            ],
+            "names": [
+                "arm_joint_0.pos",
+                "arm_joint_1.pos",
+                "arm_joint_2.pos",
+                "arm_joint_3.pos",
+                "arm_joint_4.pos",
+                "arm_joint_5.pos",
+                "arm_joint_6.pos",
+                "hand_joint_0.pos",
+                "hand_joint_1.pos",
+                "hand_joint_2.pos",
+                "hand_joint_3.pos",
+                "hand_joint_4.pos",
+                "hand_joint_5.pos",
+                "hand_joint_6.pos",
+                "hand_joint_7.pos",
+                "hand_joint_8.pos",
+                "hand_joint_9.pos",
+                "hand_joint_10.pos",
+                "hand_joint_11.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                54
+            ],
+            "names": [
+                "arm_joint_0.pos",
+                "arm_joint_1.pos",
+                "arm_joint_2.pos",
+                "arm_joint_3.pos",
+                "arm_joint_4.pos",
+                "arm_joint_5.pos",
+                "arm_joint_6.pos",
+                "arm_joint_0.vel",
+                "arm_joint_1.vel",
+                "arm_joint_2.vel",
+                "arm_joint_3.vel",
+                "arm_joint_4.vel",
+                "arm_joint_5.vel",
+                "arm_joint_6.vel",
+                "arm_ee_pose.00",
+                "arm_ee_pose.01",
+                "arm_ee_pose.02",
+                "arm_ee_pose.03",
+                "arm_ee_pose.04",
+                "arm_ee_pose.05",
+                "arm_ee_pose.06",
+                "arm_ee_pose.07",
+                "arm_ee_pose.08",
+                "arm_ee_pose.09",
+                "arm_ee_pose.10",
+                "arm_ee_pose.11",
+                "arm_ee_pose.12",
+                "arm_ee_pose.13",
+                "arm_ee_pose.14",
+                "arm_ee_pose.15",
+                "hand_joint_0.pos",
+                "hand_joint_1.pos",
+                "hand_joint_2.pos",
+                "hand_joint_3.pos",
+                "hand_joint_4.pos",
+                "hand_joint_5.pos",
+                "hand_joint_6.pos",
+                "hand_joint_7.pos",
+                "hand_joint_8.pos",
+                "hand_joint_9.pos",
+                "hand_joint_10.pos",
+                "hand_joint_11.pos",
+                "hand_joint_0.torque",
+                "hand_joint_1.torque",
+                "hand_joint_2.torque",
+                "hand_joint_3.torque",
+                "hand_joint_4.torque",
+                "hand_joint_5.torque",
+                "hand_joint_6.torque",
+                "hand_joint_7.torque",
+                "hand_joint_8.torque",
+                "hand_joint_9.torque",
+                "hand_joint_10.torque",
+                "hand_joint_11.torque"
+            ]
+        },
+        "observation.images.head_view": {
+            "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": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.front_left_view": {
+            "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": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_view": {
+            "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": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action_target_position": {
+            "dtype": "float32",
+            "shape": [
+                87
+            ],
+            "names": [
+                "arm_target_position_0",
+                "arm_target_position_1",
+                "arm_target_position_2",
+                "arm_target_orientation_0",
+                "arm_target_orientation_1",
+                "arm_target_orientation_2",
+                "arm_target_orientation_3",
+                "arm_target_orientation_4",
+                "arm_target_orientation_5",
+                "arm_target_orientation_6",
+                "arm_target_orientation_7",
+                "arm_target_orientation_8",
+                "hand_target_position_0",
+                "hand_target_position_1",
+                "hand_target_position_2",
+                "hand_target_position_3",
+                "hand_target_position_4",
+                "hand_target_position_5",
+                "hand_target_position_6",
+                "hand_target_position_7",
+                "hand_target_position_8",
+                "hand_target_position_9",
+                "hand_target_position_10",
+                "hand_target_position_11",
+                "hand_target_position_12",
+                "hand_target_position_13",
+                "hand_target_position_14",
+                "hand_target_position_15",
+                "hand_target_position_16",
+                "hand_target_position_17",
+                "hand_target_position_18",
+                "hand_target_position_19",
+                "hand_target_position_20",
+                "hand_target_position_21",
+                "hand_target_position_22",
+                "hand_target_position_23",
+                "hand_target_position_24",
+                "hand_target_position_25",
+                "hand_target_position_26",
+                "hand_target_position_27",
+                "hand_target_position_28",
+                "hand_target_position_29",
+                "hand_target_position_30",
+                "hand_target_position_31",
+                "hand_target_position_32",
+                "hand_target_position_33",
+                "hand_target_position_34",
+                "hand_target_position_35",
+                "hand_target_position_36",
+                "hand_target_position_37",
+                "hand_target_position_38",
+                "hand_target_position_39",
+                "hand_target_position_40",
+                "hand_target_position_41",
+                "hand_target_position_42",
+                "hand_target_position_43",
+                "hand_target_position_44",
+                "hand_target_position_45",
+                "hand_target_position_46",
+                "hand_target_position_47",
+                "hand_target_position_48",
+                "hand_target_position_49",
+                "hand_target_position_50",
+                "hand_target_position_51",
+                "hand_target_position_52",
+                "hand_target_position_53",
+                "hand_target_position_54",
+                "hand_target_position_55",
+                "hand_target_position_56",
+                "hand_target_position_57",
+                "hand_target_position_58",
+                "hand_target_position_59",
+                "hand_target_position_60",
+                "hand_target_position_61",
+                "hand_target_position_62",
+                "hand_target_position_63",
+                "hand_target_position_64",
+                "hand_target_position_65",
+                "hand_target_position_66",
+                "hand_target_position_67",
+                "hand_target_position_68",
+                "hand_target_position_69",
+                "hand_target_position_70",
+                "hand_target_position_71",
+                "hand_target_position_72",
+                "hand_target_position_73",
+                "hand_target_position_74"
+            ]
+        },
+        "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/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/tasks.jsonl b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84800546c498701bcac2ee99e21a79fb087ead0f
--- /dev/null
+++ b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Remove the funnel from the round-bottom flask."}
diff --git a/data/atomic/remove_the_funnel_from_the_round_bottom_flask/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4 b/data/atomic/remove_the_funnel_from_the_round_bottom_flask/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0755392f65be09b5b4563d49c88a171b7fb44d4
--- /dev/null
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diff --git a/data/atomic/shake_the_test_tube/meta/episodes_stats.jsonl b/data/atomic/shake_the_test_tube/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59d6c814d2f28d9d4362124a82115dc97cfde168
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diff --git a/data/atomic/shake_the_test_tube/meta/info.json b/data/atomic/shake_the_test_tube/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffe129461c5f113482742bd7933d75a8416ad19
--- /dev/null
+++ b/data/atomic/shake_the_test_tube/meta/info.json
@@ -0,0 +1,306 @@
+{
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+                "arm_joint_2.pos",
+                "arm_joint_3.pos",
+                "arm_joint_4.pos",
+                "arm_joint_5.pos",
+                "arm_joint_6.pos",
+                "arm_joint_0.vel",
+                "arm_joint_1.vel",
+                "arm_joint_2.vel",
+                "arm_joint_3.vel",
+                "arm_joint_4.vel",
+                "arm_joint_5.vel",
+                "arm_joint_6.vel",
+                "arm_ee_pose.00",
+                "arm_ee_pose.01",
+                "arm_ee_pose.02",
+                "arm_ee_pose.03",
+                "arm_ee_pose.04",
+                "arm_ee_pose.05",
+                "arm_ee_pose.06",
+                "arm_ee_pose.07",
+                "arm_ee_pose.08",
+                "arm_ee_pose.09",
+                "arm_ee_pose.10",
+                "arm_ee_pose.11",
+                "arm_ee_pose.12",
+                "arm_ee_pose.13",
+                "arm_ee_pose.14",
+                "arm_ee_pose.15",
+                "hand_joint_0.pos",
+                "hand_joint_1.pos",
+                "hand_joint_2.pos",
+                "hand_joint_3.pos",
+                "hand_joint_4.pos",
+                "hand_joint_5.pos",
+                "hand_joint_6.pos",
+                "hand_joint_7.pos",
+                "hand_joint_8.pos",
+                "hand_joint_9.pos",
+                "hand_joint_10.pos",
+                "hand_joint_11.pos",
+                "hand_joint_0.torque",
+                "hand_joint_1.torque",
+                "hand_joint_2.torque",
+                "hand_joint_3.torque",
+                "hand_joint_4.torque",
+                "hand_joint_5.torque",
+                "hand_joint_6.torque",
+                "hand_joint_7.torque",
+                "hand_joint_8.torque",
+                "hand_joint_9.torque",
+                "hand_joint_10.torque",
+                "hand_joint_11.torque"
+            ]
+        },
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+                640,
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+            ],
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+                "channels"
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+                "video.channels": 3,
+                "has_audio": false
+            }
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+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.width": 640,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
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+            }
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+            "shape": [
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+                640,
+                3
+            ],
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+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
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+                "has_audio": false
+            }
+        },
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+            ],
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+                "arm_target_position_0",
+                "arm_target_position_1",
+                "arm_target_position_2",
+                "arm_target_orientation_0",
+                "arm_target_orientation_1",
+                "arm_target_orientation_2",
+                "arm_target_orientation_3",
+                "arm_target_orientation_4",
+                "arm_target_orientation_5",
+                "arm_target_orientation_6",
+                "arm_target_orientation_7",
+                "arm_target_orientation_8",
+                "hand_target_position_0",
+                "hand_target_position_1",
+                "hand_target_position_2",
+                "hand_target_position_3",
+                "hand_target_position_4",
+                "hand_target_position_5",
+                "hand_target_position_6",
+                "hand_target_position_7",
+                "hand_target_position_8",
+                "hand_target_position_9",
+                "hand_target_position_10",
+                "hand_target_position_11",
+                "hand_target_position_12",
+                "hand_target_position_13",
+                "hand_target_position_14",
+                "hand_target_position_15",
+                "hand_target_position_16",
+                "hand_target_position_17",
+                "hand_target_position_18",
+                "hand_target_position_19",
+                "hand_target_position_20",
+                "hand_target_position_21",
+                "hand_target_position_22",
+                "hand_target_position_23",
+                "hand_target_position_24",
+                "hand_target_position_25",
+                "hand_target_position_26",
+                "hand_target_position_27",
+                "hand_target_position_28",
+                "hand_target_position_29",
+                "hand_target_position_30",
+                "hand_target_position_31",
+                "hand_target_position_32",
+                "hand_target_position_33",
+                "hand_target_position_34",
+                "hand_target_position_35",
+                "hand_target_position_36",
+                "hand_target_position_37",
+                "hand_target_position_38",
+                "hand_target_position_39",
+                "hand_target_position_40",
+                "hand_target_position_41",
+                "hand_target_position_42",
+                "hand_target_position_43",
+                "hand_target_position_44",
+                "hand_target_position_45",
+                "hand_target_position_46",
+                "hand_target_position_47",
+                "hand_target_position_48",
+                "hand_target_position_49",
+                "hand_target_position_50",
+                "hand_target_position_51",
+                "hand_target_position_52",
+                "hand_target_position_53",
+                "hand_target_position_54",
+                "hand_target_position_55",
+                "hand_target_position_56",
+                "hand_target_position_57",
+                "hand_target_position_58",
+                "hand_target_position_59",
+                "hand_target_position_60",
+                "hand_target_position_61",
+                "hand_target_position_62",
+                "hand_target_position_63",
+                "hand_target_position_64",
+                "hand_target_position_65",
+                "hand_target_position_66",
+                "hand_target_position_67",
+                "hand_target_position_68",
+                "hand_target_position_69",
+                "hand_target_position_70",
+                "hand_target_position_71",
+                "hand_target_position_72",
+                "hand_target_position_73",
+                "hand_target_position_74"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "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/data/atomic/shake_the_test_tube/meta/tasks.jsonl b/data/atomic/shake_the_test_tube/meta/tasks.jsonl
new file mode 100644
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--- /dev/null
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diff --git a/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4 b/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b38ce779683af267bd04cc21f81b8a6463b8e291
--- /dev/null
+++ b/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 908768
diff --git a/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000001.mp4 b/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000001.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000002.mp4 b/data/atomic/shake_the_test_tube/videos/chunk-000/observation.images.front_left_view/episode_000002.mp4
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