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diff --git a/demo2_frame_holder/meta/info.json b/demo2_frame_holder/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef733312de5ce33ee4fd7b198c3eccae0ed6100
--- /dev/null
+++ b/demo2_frame_holder/meta/info.json
@@ -0,0 +1,152 @@
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diff --git a/demo2_frame_holder2/meta/info.json b/demo2_frame_holder2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89ed51353f0e587c8691f9990fa158188457802
--- /dev/null
+++ b/demo2_frame_holder2/meta/info.json
@@ -0,0 +1,152 @@
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diff --git a/demo2_frames_grab/meta/info.json b/demo2_frames_grab/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde3ac41697eb54f7473f903e9f2d229c25e49d8
--- /dev/null
+++ b/demo2_frames_grab/meta/info.json
@@ -0,0 +1,152 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "sam_two",
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+  "total_frames": 28432,
+  "total_tasks": 1,
+  "total_videos": 192,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
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+  },
+  "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",
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+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.images.image": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
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+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
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+        "video.pix_fmt": "yuv420p",
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+        "has_audio": false
+      }
+    },
+    "observation.images.image3": {
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+        640,
+        3
+      ],
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+        "width",
+        "channels"
+      ],
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+        "width",
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+        "has_audio": false
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+    }
+  }
+}
\ No newline at end of file
diff --git a/demo2_frames_grab/meta/info.json.bak b/demo2_frames_grab/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..bcd01c21fd8694a44daa3be59eab87adefe2ad11
--- /dev/null
+++ b/demo2_frames_grab/meta/info.json.bak
@@ -0,0 +1,152 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "sam_two",
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+  "total_frames": 28432,
+  "total_tasks": 1,
+  "total_videos": 192,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:64"
+  },
+  "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": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.images.laptop": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.side": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
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+        "video.fps": 30.0,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
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+        "video.pix_fmt": "yuv420p",
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+        "has_audio": false
+      }
+    },
+    "observation.images.phone": {
+      "dtype": "video",
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+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
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+        "video.fps": 30.0,
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+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "timestamp": {
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+        1
+      ],
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+    },
+    "frame_index": {
+      "dtype": "int64",
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+        1
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+    },
+    "episode_index": {
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+        1
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+    "index": {
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+        1
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+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/demo2_frames_grab/meta/tasks.jsonl b/demo2_frames_grab/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2fcaa661072c65b3a7d2e0df5ab08cfe460a665a
--- /dev/null
+++ b/demo2_frames_grab/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Peel off protective film from adhesive tape."}
diff --git a/demo2_frames_grab/videos/chunk-000/observation.images.image/episode_000000.mp4 b/demo2_frames_grab/videos/chunk-000/observation.images.image/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/demo2_frames_grab/videos/chunk-000/observation.images.image/episode_000000.mp4
@@ -0,0 +1,3 @@
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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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+++ b/demo2_frames_grab/videos/chunk-000/observation.images.image/episode_000002.mp4
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new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/demo2_sand_peeloff/meta/info.json b/demo2_sand_peeloff/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9c5da3e6b55dfd5be307fe2513842ae63d5345
--- /dev/null
+++ b/demo2_sand_peeloff/meta/info.json
@@ -0,0 +1,152 @@
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diff --git a/demo2_upart_peeloff/meta/episodes_stats.jsonl b/demo2_upart_peeloff/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..705832a5d2946c238fbd8ebfe1a211e4de4077e3
--- /dev/null
+++ b/demo2_upart_peeloff/meta/episodes_stats.jsonl
@@ -0,0 +1,37 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..d3183d23a9e73eedf4de7b56c514dadb6f2186db
--- /dev/null
+++ b/demo2_upart_peeloff/meta/info.json
@@ -0,0 +1,152 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..51265b42010d828fdc9101c6649e30631abbf65b
--- /dev/null
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+}
\ No newline at end of file
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/demo3_frames_grab3/meta/episodes_stats.jsonl b/demo3_frames_grab3/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc3a61e913636616daedcfb05c398590804fb344
--- /dev/null
+++ b/demo3_frames_grab3/meta/episodes_stats.jsonl
@@ -0,0 +1,71 @@
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diff --git a/demo3_frames_grab3/meta/info.json b/demo3_frames_grab3/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b07f6a0a6b8c225d00bc408c2022d55c92c63f
--- /dev/null
+++ b/demo3_frames_grab3/meta/info.json
@@ -0,0 +1,152 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "sam_two",
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+  "total_tasks": 1,
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+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
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+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
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+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.images.image": {
+      "dtype": "video",
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+        480,
+        640,
+        3
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+        "width",
+        "channels"
+      ],
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+    },
+    "observation.images.image3": {
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+        640,
+        3
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+}
\ No newline at end of file
diff --git a/demo3_frames_grab3/meta/info.json.bak b/demo3_frames_grab3/meta/info.json.bak
new file mode 100644
index 0000000000000000000000000000000000000000..321c395d9b6092f42f53bf1e488f05e82b1e645e
--- /dev/null
+++ b/demo3_frames_grab3/meta/info.json.bak
@@ -0,0 +1,152 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "sam_two",
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+  "fps": 30,
+  "splits": {
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+  "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": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "main_shoulder_pan",
+        "main_shoulder_lift",
+        "main_elbow_flex",
+        "main_wrist_flex",
+        "main_wrist_side",
+        "main_wrist_roll",
+        "main_gripper"
+      ]
+    },
+    "observation.images.laptop": {
+      "dtype": "video",
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+        480,
+        640,
+        3
+      ],
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+        "width",
+        "channels"
+      ],
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+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.side": {
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+        480,
+        640,
+        3
+      ],
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+        "width",
+        "channels"
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+    "observation.images.phone": {
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+        640,
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+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
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+    "frame_index": {
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+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/demo3_frames_grab3/meta/tasks.jsonl b/demo3_frames_grab3/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f988eff392d90ec6acf838422eb0722c6b4f9a9
--- /dev/null
+++ b/demo3_frames_grab3/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grab top frame and put it into gray box."}
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new file mode 100644
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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