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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4212370363d2df94a6d022c311d7eb6b99d089cf
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,190 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "Unitree_G1",
+    "total_episodes": 968,
+    "total_frames": 278772,
+    "total_tasks": 1,
+    "total_videos": 968,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:968"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/observation.images.ego_view/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                28
+            ],
+            "names": [
+                [
+                    "kLeftShoulderPitch",
+                    "kLeftShoulderRoll",
+                    "kLeftShoulderYaw",
+                    "kLeftElbow",
+                    "kLeftWristRoll",
+                    "kLeftWristPitch",
+                    "kLeftWristYaw",
+                    "kRightShoulderPitch",
+                    "kRightShoulderRoll",
+                    "kRightShoulderYaw",
+                    "kRightElbow",
+                    "kRightWristRoll",
+                    "kRightWristPitch",
+                    "kRightWristYaw",
+                    "kLeftHandIndex1",
+                    "kLeftHandIndex0",
+                    "kLeftHandMiddle1",
+                    "kLeftHandMiddle0",
+                    "kLeftHandThumb2",
+                    "kLeftHandThumb1",
+                    "kLeftHandThumb0",
+                    "kRightHandIndex1",
+                    "kRightHandIndex0",
+                    "kRightHandMiddle1",
+                    "kRightHandMiddle0",
+                    "kRightHandThumb2",
+                    "kRightHandThumb1",
+                    "kRightHandThumb0"
+                ]
+            ]
+        },
+        "observation.contact": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": [
+                [
+                    "left_thumb",
+                    "left_index",
+                    "left_middle",
+                    "left_palm",
+                    "right_thumb",
+                    "right_index",
+                    "right_middle",
+                    "right_palm"
+                ]
+            ],
+            "info": {
+                "description": "Contact force magnitudes per finger/hand part (G1 dex31 hands)",
+                "units": "Approximate Newtons (N)",
+                "note": "Force approximated from penetration depth: force ≈ max(0, -dist) * 100.0",
+                "fingers": "left_thumb, left_index, left_middle, left_palm, right_thumb, right_index, right_middle, right_palm"
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                28
+            ],
+            "names": [
+                [
+                    "kLeftShoulderPitch",
+                    "kLeftShoulderRoll",
+                    "kLeftShoulderYaw",
+                    "kLeftElbow",
+                    "kLeftWristRoll",
+                    "kLeftWristPitch",
+                    "kLeftWristYaw",
+                    "kRightShoulderPitch",
+                    "kRightShoulderRoll",
+                    "kRightShoulderYaw",
+                    "kRightElbow",
+                    "kRightWristRoll",
+                    "kRightWristPitch",
+                    "kRightWristYaw",
+                    "kLeftHandIndex1",
+                    "kLeftHandIndex0",
+                    "kLeftHandMiddle1",
+                    "kLeftHandMiddle0",
+                    "kLeftHandThumb2",
+                    "kLeftHandThumb1",
+                    "kLeftHandThumb0",
+                    "kRightHandIndex1",
+                    "kRightHandIndex0",
+                    "kRightHandMiddle1",
+                    "kRightHandMiddle0",
+                    "kRightHandThumb2",
+                    "kRightHandThumb1",
+                    "kRightHandThumb0"
+                ]
+            ]
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.reward": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "annotation.human.coarse_action": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd64a683c305f44902be2edd2d42d48135e74d8c
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,61 @@
+{
+    "state": {
+        "left_arm": {
+            "original_key": "observation.state",
+            "start": 0,
+            "end": 7
+        },
+        "right_arm": {
+            "original_key": "observation.state",
+            "start": 7,
+            "end": 14
+        },
+        "left_hand": {
+            "original_key": "observation.state",
+            "start": 14,
+            "end": 21
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