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diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d185f424ae3aea1acae97ca37aa78fd577bcaca9
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c2359a6ff69be1edabb90d33f74888ad48c5eb
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,349 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "G1_ALL",
+    "total_episodes": 200,
+    "total_frames": 182638,
+    "total_tasks": 1,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:200"
+    },
+    "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.left_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw"
+            ]
+        },
+        "observation.right_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
+        "observation.left_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kLeftGripper"
+            ]
+        },
+        "observation.right_gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "kRightGripper"
+            ]
+        },
+        "observation.left_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kLeftEEX",
+                "kLeftEEY",
+                "kLeftEEZ",
+                "kLeftEER",
+                "kLeftEEP",
+                "kLeftEEY"
+            ]
+        },
+        "observation.right_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kRightEEX",
+                "kRightEEY",
+                "kRightEEZ",
+                "kRightEER",
+                "kRightEEP",
+                "kRightEEY"
+            ]
+        },
+        "observation.body": {
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+            "shape": [
+                29
+            ],
+            "names": [
+                "kLeftHipPitch",
+                "kLeftHipRoll",
+                "kLeftHipYaw",
+                "kLeftKnee",
+                "kLeftAnklePitch",
+                "kLeftAnkleRoll",
+                "kRightHipPitch",
+                "kRightHipRoll",
+                "kRightHipYaw",
+                "kRightKnee",
+                "kRightAnklePitch",
+                "kRightAnkleRoll",
+                "kWaistYaw",
+                "kWaistRoll",
+                "kWaistPitch",
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw",
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
+        "action.left_arm": {
+            "dtype": "float32",
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+                7
+            ],
+            "names": [
+                "kLeftShoulderPitch",
+                "kLeftShoulderRoll",
+                "kLeftShoulderYaw",
+                "kLeftElbow",
+                "kLeftWristRoll",
+                "kLeftWristPitch",
+                "kLeftWristYaw"
+            ]
+        },
+        "action.right_arm": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "kRightShoulderPitch",
+                "kRightShoulderRoll",
+                "kRightShoulderYaw",
+                "kRightElbow",
+                "kRightWristRoll",
+                "kRightWristPitch",
+                "kRightWristYaw"
+            ]
+        },
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+                1
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+                "kLeftGripper"
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+                1
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+                "kLeftEEY",
+                "kLeftEEZ",
+                "kLeftEER",
+                "kLeftEEP",
+                "kLeftEEY"
+            ]
+        },
+        "action.right_ee": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "kRightEEX",
+                "kRightEEY",
+                "kRightEEZ",
+                "kRightEER",
+                "kRightEEP",
+                "kRightEEY"
+            ]
+        },
+        "action.body": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "RobotVX",
+                "RobotVY",
+                "RobotAngZ",
+                "RobotYaw",
+                "RobotPitch",
+                "RobotRoll",
+                "RobotHeight"
+            ]
+        },
+        "observation.images.cam_left_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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.cam_right_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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
+            }
+        },
+        "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",
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d618c885a8c433363dc3282c750bd2783da95b5
--- /dev/null
+++ b/meta/tasks.jsonl
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+{"task_index": 0, "task": "Hang the tools on the shelf from right to left."}
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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