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diff --git a/grasp_classify_joint/meta/info.json b/grasp_classify_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1312d5d7ecd1476f62afae0a2932ee04ea671492
--- /dev/null
+++ b/grasp_classify_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/grasp_classify_joint/meta/tasks.jsonl b/grasp_classify_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..199dc24a302529fd4783d4d84ff2048e8964c81d
--- /dev/null
+++ b/grasp_classify_joint/meta/tasks.jsonl
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diff --git a/insert_HDMI_joint/meta/info.json b/insert_HDMI_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e40d3d25f235ecb99f52f4519ba09a893b91d4f1
--- /dev/null
+++ b/insert_HDMI_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_HDMI_joint/meta/tasks.jsonl b/insert_HDMI_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1cd1c1083b1d8af977ebbba895b8299278f5837f
--- /dev/null
+++ b/insert_HDMI_joint/meta/tasks.jsonl
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diff --git a/insert_hole_joint/meta/info.json b/insert_hole_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccdc59ef1fe6a2edfd5a7681a6d78361dd76b096
--- /dev/null
+++ b/insert_hole_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_hole_joint/meta/tasks.jsonl b/insert_hole_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c6884887a62c517307d9b4314d55d9b713e710e
--- /dev/null
+++ b/insert_hole_joint/meta/tasks.jsonl
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new file mode 100644
index 0000000000000000000000000000000000000000..368fbb15e0cc8111a5138e126c85c279e8d00a0f
--- /dev/null
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+}
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diff --git a/lift_bottle_joint/meta/info.json b/lift_bottle_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20f2d85608651e634e6688ad89b0b88c0edecc8
--- /dev/null
+++ b/lift_bottle_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+    "robot_type": "Franka Panda",
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+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                256,
+                3
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+                "channels"
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+        "observation.images.left_tactile": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/lift_bottle_joint/meta/tasks.jsonl b/lift_bottle_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..47ddb9063fd8b7168475c70b5bf5aa3242e00045
--- /dev/null
+++ b/lift_bottle_joint/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "lift the bottle"}
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diff --git a/lift_can_joint/meta/info.json b/lift_can_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f10a8f7f249bcac5ab9a28060eaaf92158a22b0
--- /dev/null
+++ b/lift_can_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+        }
+    }
+}
\ No newline at end of file
diff --git a/lift_can_joint/meta/tasks.jsonl b/lift_can_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c7df9d1db9756b5118fc7622b696dc8db712d77
--- /dev/null
+++ b/lift_can_joint/meta/tasks.jsonl
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diff --git a/pull_out_key_joint/meta/info.json b/pull_out_key_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b074f1b4204535d6b8e9e27cb52b0197cbca477b
--- /dev/null
+++ b/pull_out_key_joint/meta/info.json
@@ -0,0 +1,181 @@
+{
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pull_out_key_joint/meta/tasks.jsonl b/pull_out_key_joint/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99142d8d0f64e30189af795127a0d7aa07062302
--- /dev/null
+++ b/pull_out_key_joint/meta/tasks.jsonl
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diff --git a/put_bottle_in_shelf_joint/meta/episodes_stats.jsonl b/put_bottle_in_shelf_joint/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00a584a6d729b63313a49a90354647f0ebc75bac
--- /dev/null
+++ b/put_bottle_in_shelf_joint/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/put_bottle_in_shelf_joint/meta/info.json b/put_bottle_in_shelf_joint/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4214a6595d856b71f32f195e14c7077f11f28cc2
--- /dev/null
+++ b/put_bottle_in_shelf_joint/meta/info.json
@@ -0,0 +1,181 @@
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diff --git a/univtac_task_prompts.json b/univtac_task_prompts.json
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+++ b/univtac_task_prompts.json
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+{
+  "insert_HDMI": "insert the HDMI connector into the port",
+  "insert_hole": "insert the peg into the hole",
+  "insert_tube": "insert the tube into the fixture",
+  "grasp_classify": "grasp and classify the object by tactile feedback",
+  "lift_can": "lift the can",
+  "lift_bottle": "lift the bottle",
+  "pull_out_key": "pull out the key",
+  "put_bottle_in_shelf": "put the bottle on the shelf"
+}
\ No newline at end of file