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new file mode 100644
index 0000000000000000000000000000000000000000..ed247ae40450d85c89b568fd09bddeaa787c756b
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+++ b/meta/episodes_stats.jsonl
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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff186d102ea29aaf8d952e8a895d4813f7f13f5
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,419 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "VR_H31",
+    "total_episodes": 217,
+    "total_frames": 67303,
+    "total_tasks": 1,
+    "total_videos": 868,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:217"
+    },
+    "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": [
+                46
+            ],
+            "names": {
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+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint",
+                    "L_gripper_open",
+                    "R_gripper_open",
+                    "left_x",
+                    "left_y",
+                    "left_z",
+                    "left_r11",
+                    "left_r12",
+                    "left_r13",
+                    "left_r21",
+                    "left_r22",
+                    "left_r23",
+                    "right_x",
+                    "right_y",
+                    "right_z",
+                    "right_r11",
+                    "right_r12",
+                    "right_r13",
+                    "right_r21",
+                    "right_r22",
+                    "right_r23"
+                ]
+            }
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+        "observation.state": {
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+            ],
+            "names": {
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+                    "left_hip_pitch_joint",
+                    "left_hip_roll_joint",
+                    "left_hip_yaw_joint",
+                    "left_knee_pitch_joint",
+                    "left_ankle_pitch_joint",
+                    "left_ankle_roll_joint",
+                    "right_hip_pitch_joint",
+                    "right_hip_roll_joint",
+                    "right_hip_yaw_joint",
+                    "right_knee_pitch_joint",
+                    "right_ankle_pitch_joint",
+                    "right_ankle_roll_joint",
+                    "waist_yaw_joint",
+                    "waist_roll_joint",
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "head_yaw_joint",
+                    "head_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint",
+                    "L_gripper_open",
+                    "R_gripper_open",
+                    "x",
+                    "y",
+                    "z",
+                    "qx",
+                    "qy",
+                    "qz",
+                    "qw",
+                    "left_x",
+                    "left_y",
+                    "left_z",
+                    "left_r11",
+                    "left_r12",
+                    "left_r13",
+                    "left_r21",
+                    "left_r22",
+                    "left_r23",
+                    "right_x",
+                    "right_y",
+                    "right_z",
+                    "right_r11",
+                    "right_r12",
+                    "right_r13",
+                    "right_r21",
+                    "right_r22",
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+            }
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+                    "left_hip_pitch_joint",
+                    "left_hip_roll_joint",
+                    "left_hip_yaw_joint",
+                    "left_knee_pitch_joint",
+                    "left_ankle_pitch_joint",
+                    "left_ankle_roll_joint",
+                    "right_hip_pitch_joint",
+                    "right_hip_roll_joint",
+                    "right_hip_yaw_joint",
+                    "right_knee_pitch_joint",
+                    "right_ankle_pitch_joint",
+                    "right_ankle_roll_joint",
+                    "waist_yaw_joint",
+                    "waist_roll_joint",
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "head_yaw_joint",
+                    "head_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint",
+                    "L_gripper_open",
+                    "R_gripper_open",
+                    "x",
+                    "y",
+                    "z",
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+                    "qy",
+                    "qz",
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+                ]
+            }
+        },
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+            ],
+            "names": {
+                "displacement": [
+                    "left_hip_pitch_joint",
+                    "left_hip_roll_joint",
+                    "left_hip_yaw_joint",
+                    "left_knee_pitch_joint",
+                    "left_ankle_pitch_joint",
+                    "left_ankle_roll_joint",
+                    "right_hip_pitch_joint",
+                    "right_hip_roll_joint",
+                    "right_hip_yaw_joint",
+                    "right_knee_pitch_joint",
+                    "right_ankle_pitch_joint",
+                    "right_ankle_roll_joint",
+                    "waist_yaw_joint",
+                    "waist_roll_joint",
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "head_yaw_joint",
+                    "head_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint",
+                    "L_gripper_open",
+                    "R_gripper_open",
+                    "x",
+                    "y",
+                    "z",
+                    "qx",
+                    "qy",
+                    "qz",
+                    "qw"
+                ]
+            }
+        },
+        "observation.odometry.pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
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+                    "y",
+                    "z",
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+                    "qy",
+                    "qz",
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+                ]
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+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.width": 960,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+        "observation.images.color.head_right": {
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+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+            "info": {
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+                "video.width": 960,
+                "video.codec": "av1",
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+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.color.left": {
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+                640,
+                3
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+        "task_index": {
+            "dtype": "int64",
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+                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..f0fa71d68f2f7760d9639da13abd86dc05b7bdc5
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp the large curved metal frame with both hands and lift it upward from the rack."}
diff --git a/videos/chunk-000/observation.images.color.head/episode_000000.mp4 b/videos/chunk-000/observation.images.color.head/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/videos/chunk-000/observation.images.color.head/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8918862
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+++ b/videos/chunk-000/observation.images.color.head/episode_000002.mp4
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new file mode 100644
index 0000000000000000000000000000000000000000..97c792143e80f71e3e897bdb7331e2f9d370df43
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@@ -0,0 +1,3 @@
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diff --git a/videos/chunk-000/observation.images.color.head/episode_000004.mp4 b/videos/chunk-000/observation.images.color.head/episode_000004.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/videos/chunk-000/observation.images.color.head/episode_000005.mp4
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