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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/episodes_stats.jsonl b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9de4d9e62d28d4d07aeebada103f11f8dfc9c1ca
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/info.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..835888cea36c55858830cdcbf2ce4c5a2e737016
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/info.json
@@ -0,0 +1,144 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "g1",
+    "total_episodes": 100,
+    "total_frames": 15509,
+    "total_tasks": 1,
+    "total_videos": 100,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/egocentric/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.egocentric": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "hand_joints"
+            ]
+        },
+        "observation.arm_joints": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "arm_joints"
+            ]
+        },
+        "observation.leg_joints": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "leg_joints"
+            ]
+        },
+        "observation.prev_torso_rpy": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "prev_roll",
+                "prev_pitch",
+                "prev_yaw"
+            ]
+        },
+        "observation.prev_height": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "prev_height"
+            ]
+        },
+        "states": {
+            "dtype": "float32",
+            "shape": [
+                -1
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                -1
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "frame_index": {
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+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "observation.depth.egocentric": {
+            "dtype": "uint16",
+            "shape": [
+                360,
+                640
+            ],
+            "names": [
+                "height",
+                "width"
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/lang_map.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/lang_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/lang_map.json
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/modality.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..698c3216ff6ad6c7249d118f7ecd369a759d6c26
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/modality.json
@@ -0,0 +1,144 @@
+{
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+      "end": 7,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "states"
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+    "left_arm": {
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+      "end": 21,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "states"
+    },
+    "right_arm": {
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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/relative_stats.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/stats.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a71f524c674c479c030830684405b86d4893a726
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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/stats_psi0.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/stats_psi0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a71f524c674c479c030830684405b86d4893a726
--- /dev/null
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diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/tasks.jsonl b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..659c5f2e7b4a9fee15e9db22bdf85aa77c4f7c9b
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index":0,"task":"bend to pick up the cracker box","category":"","description":"bend to pick up the cracker box"}
diff --git a/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/time_axis_fix.json b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/time_axis_fix.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2799bc67bb311f1ec495a58db8db17cb5369df7
--- /dev/null
+++ b/simple-depth-v2-20260904/G1WholebodyBendPickMP-v0/meta/time_axis_fix.json
@@ -0,0 +1,714 @@
+{
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