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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0345bfc2bc4d27546f5c14a222fc82c5aa224290
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,164 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "g1_upper_body",
+    "total_episodes": 1000,
+    "total_frames": 230118,
+    "total_tasks": 2,
+    "total_videos": 1000,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:100"
+    },
+    "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.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                31
+            ],
+            "names": [
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                31
+            ],
+            "names": [
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.task_description": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.valid": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce79fb70f37747da427d3c3a31497c1c19a0440
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,60 @@
+{
+    "state": {
+        "left_arm": {
+            "original_key": "observation.state",
+            "start": 0,
+            "end": 7
+        },
+        "right_arm": {
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+        "waist": {
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+        "left_hand": {
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+        "right_hand": {
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+        "waist": {
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+    "video": {
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+        }
+    },
+    "annotation": {
+        "human.task_description": {},
+        "human.validity": {}
+    }
+}
\ No newline at end of file
diff --git a/meta/relative_stats.json b/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7aabab2eaa97e52a210db39a8158aa417e65d7
--- /dev/null
+++ b/meta/relative_stats.json
@@ -0,0 +1,7452 @@
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